A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.

• 이주행(Human Robot Interaction Lab, ETRI, Computer Software, Korea University of Science and Technology) | Joo-Haeng Lee Corresponding author
• 이재연(Human Robot Interaction Lab, ETRI) | Jaeyeon Lee
• 이아현(Computer Software, Korea University of Science and Technology, Human Robot Interaction Lab, ETRI) | Ahyun Lee
• 김재홍(Human Robot Interaction Lab, ETRI) | Jaehong Kim