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Gobal Positioning System

The GPS consists of four overhead cameras with slightly overlapping fields of view. The camera images are digitized and processed to yield the position and orientation of each robot and of obstacles in the environment, with updates occurring at 30 Hz with a spatial resolution of about 3 cm. The system allows queries of the robot's own position, of other robots' positions, and of obstacles' positions. To provide this information to processes running on the robots, sockets are used to transfer data from the off-board vision processing workstation to the robots local filesystems.

Yu Uny Cao
Fri May 12 16:04:55 PDT 1995