| Summary: | 碩士 === 國立雲林科技大學 === 資訊工程研究所 === 99 === An autonomous robot localization based on 3D pose estimation is proposed in this paper. In the proposed approach, the position and orientation of the specified marker installed at the corner of a room can be derived by the adopted estimation approach, Pose from Orthography and Scaling with Iterations (POSIT), with respect to the camera coordinate. Then, the robot position can be obtained by the transform vector and rotation matrix derived by the previous stage. Since the position and orientation of the marker is obtained by iterative method, no extrinsic parameter of camera calibration has to be predetermined known. Furthermore, the algorithm is robust if the orientation of camera is changed. Experimental results show that the proposed approach is accurate and can be applied on real-time system.
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