Robot Self-Location by Line Correspondence

This paper thoroughly investigates the problem of robot self-locationby line correspondences. The original contributions are three-fold:(1) Obtain the necessary and sufficient condition to determinelinearly the robot's pose by two line correspondences. (2) Show thatif the space lines are vertical ones, it is impossible to determinelinearly the robot's pose no matter how many line correspondences wehave, and the minimum number of line correspondences is 3 to determineuniquely (but non-linearly) the robot's pose. (3) Show that if thespace lines are horizontal ones, the minimum number of linecorrespondences is 3 for linear determination and 2 for non-lineardetermination of the robot's pose.