An Algorithm for Automatic Location and Orientation in Pattern Designed Environment

Special designed patterns, e.g. several parallel lines with black and white tones, are used for automatic location and orientation of a three dimensional movable object in the room environment, in which the special designed patterns are painted on the walls of the room. Three CCD cameras or at least one mounted on the object are used to take the images from the wall patterns, which are transferred to the computer via radio. The features of such patterns can be extracted full automatically. Then the shifting parameters (H_X, H_Y, H_Z) and the rotation parameters (h,k,κ) can be automatically calculated without any manual operation. The algorithm is based on traditional photogrammetrical theory. But special new formulas are derived for the designed patterns, and some simplifying processing are proposed.