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Rutgers´óѧÐÄÀíѧϵÖúÀí½ÌÊÚZili Liu²©Ê¿×ªÀ´ÒÔÉ«ÁÐWeizmann¿ÆÑ§Ñо¿ËùRonen Basri²©Ê¿µÄÒ»·âµç×ÓÓʼþ£¬Ö¸¿ØºÏ·Ê¹¤Òµ´óѧÈ˹¤ÖÇÄÜÑо¿ËùÈ˹¤ÖÇÄÜÓ¦ÓÃÑо¿ÊÒÖ÷ÈÎÑî¾´°²½ÌÊÚ³­Ï®ËûÃǵÄÂÛÎÄ¡£Ñî½ÌÊÚÔÚ1995ÄêÔÚIEEE/RSJÖÇÄÜ»úÆ÷È˺Íϵͳ¹ú¼Ê»áÒéÂÛÎļ¯ÉÏ·¢±íµÄÕâÆªÂÛÎÄ£º

J.A.Yang, An algorithm for localization and positioning using linearcombinations of model views, Proceedings to the IEEE/RSJ InternationalConference on Intelligent Robots and Systems (IROS-95), 1995, pp. 549-554.

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Ehud Rivlin and Ronen Basri, Localization and positioning using combinations of model views, M.I.T, A.I. Memo number 1376, July 1992

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Basic tasks in autonomous robot navigation are localization and positioning.Localization is the act of recognizing the environment, that is, assigningconsistent labels to different locations, and positioning is the act ofcomputing the coordinates of the robot in the environment. Positioning is atask complementary to localization, in the sense that position (e.g., "1.5meters northwest of table T" is often specified in a place-specificcoordinate system ("in room 911". In this paper we suggest a method ofboth localization and positioning using vision alone. A variant of thepositioning problem, referred to as repositioning, involving the returnto a previously visited place is also discussed.

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Basic tasks in autonomous robot navigation are localization and positioning.Localization is the act of recogniting the environment, that is, assigningconsistent labels to different locations, and positioning is the act ofcomputing the coordinates of the robot in the environment. Positioning is atask complementary to localization, in the sense that position is oftenspecified in a place-specific coordinate system. In this paper we suggesta method of both localization and positioning using vision alone. A variantof the positioning problem, referred to as repositioning involving the return to a previously visited place is also discussed.

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