Article details

Title: Least Squares Estimation of Round Convex Mirror Image Distortion for Indoor Localization in Robot Swarms
Author(s): Adriana Milăşan   Cristian Molder            

Abstract: The current paper deals with the polynomial estimation of deformations induced by convex mirrors in panoramic vision systems. In most situations, the deformations are either unknown or hard to compute using an embedded system mounted on a robot platform. With a polynomial estimation each position (azimuth and elevation) of a robot or artifact in a robot swarm arena can be computed using pixel distances as inputs. The polynomial estimation is obtained using a calibration template designed for this purpose.

Keywords: robotics, robot swarm, robot vision, localization


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