Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of ceiling lights. A mobile robot 10 includes a camera 12 that is pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera...http://www.google.fr/patents/US4933864?utm_source=gb-gplus-shareBrevet US4933864 - Mobile robot navigation employing ceiling light fixtures
Mobile robot navigation employing ceiling light fixtures
