Location Of A Mobile Robot By Natural Frames From A Monocular Image

A new approach for locating a mobile robot in a real indoor scene from a monocular image by natural frames is presented. Based on a fast vanishing points finding algorithm, the three rotational transform are determined. Meaningful and structured features which are amenable to high level interpretation are constructed, from linear features extracted from contours up to junction and face features. The high level interpretation about the height of face feature or junction feature permit to determine the translational transform.