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The minimal number of guide points is discussed to determine the position and orientation of a mobile robot via a single or multiple camera system. For practical application, a closed form 3D self-positioning algorithm is proposed using a stereo camera system with triple guide points. It is further shown that a double triangular pattern is an effective guide-mark that is robust against measurement noise in feature extraction. Then, by simulation, the sensitivity of positioning errors due to image errors are analyzed. It is experimentally shown that the proposed method with triple guide points works well for a walking robot equipped with a stereo camera in laboratory environment.<\/jats:p>","DOI":"10.1017\/s0263574700006421","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:18:45Z","timestamp":1236691125000},"page":"265-274","source":"Crossref","is-referenced-by-count":1,"title":["A Closed Form 3D Self-Positioning algorithm for a mobile robot using vision and guide-marks"],"prefix":"10.1017","volume":"9","author":[{"given":"Zeungnam","family":"Bien","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ho Yeol","family":"Kwon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jeongnam","family":"Youn","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Il Hong","family":"Suh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700006421_ref008","first-page":"129","article-title":"A General Photometric Method for Determining Object Position and Orientation","volume":"5","author":"Yuan","year":"1989","journal-title":"IEEE Trans"},{"key":"S0263574700006421_ref001","doi-asserted-by":"crossref","unstructured":"1. Tsumura T. , \u201cSurvey of Automated Guided Vehicle in Japanese Factory\u201d Proc. IEEE Int. Conf, on Robotics and Automation, San Francisco, Cal. 1329\u20131334 (1986).","DOI":"10.1109\/ROBOT.1986.1087602"},{"key":"S0263574700006421_ref006","doi-asserted-by":"crossref","unstructured":"6. Teraya K. and Kasuya C. , \u201cDetermination of the Position of a Freely Moving Robot Vehicle by means of Sensing a Mark Pattern\u201d Proc. Int. Symp. on Robotic Systems, (Japan) 220\u2013223 (1989).","DOI":"10.1109\/IROS.1989.637910"},{"key":"S0263574700006421_ref003","unstructured":"3. Maghee M.J. and Aggarwal J.K. , \u201cDetermining the Position of a Robot using a Single Calibration Object\u201d Proc. IEEE Int. Conf. on Robotics and Automation, Atlanta, Ga. 122\u2013129 (1984)."},{"volume-title":"Introduction to Robotics: Mechanics and Control","year":"1986","author":"Craig","key":"S0263574700006421_ref009"},{"key":"S0263574700006421_ref007","unstructured":"7. Kwon H.Y. , Bien Z. , Cho O.K. , and Sun I.H. , \u201cAn Effective Navigation System Using Vision and Guide-Marks for a Mobile Robot\u201d Proc. 11th IFAC World Congress, 08 13\u201317, 1990, Tallin, USSR, 9, 109\u2013114 (1990)."},{"key":"S0263574700006421_ref004","unstructured":"4. Hung Y. , Yeh P.-S. , and Harwood D. , \u201cPassive Ranging to Known Planar Point set\u201d Proc. IEEE Int. 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