04933864 is referenced by 184 patents and cites 4 patents.

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 views a ceiling having one or more ceiling lights 16 which may be of rectangular shape and which are preferably aligned with an axis of the hallway. In that the lights present a pattern or alignment which is substantially parallel to or perpendicular to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.

Title
Mobile robot navigation employing ceiling light fixtures
Application Number
7/253231
Publication Number
4933864
Application Date
October 4, 1988
Publication Date
June 12, 1990
Inventor
Steven J King
Carl F R Weiman
John M Evans Jr
Agent
Perman & Green
Assignee
Transitions Research Corporation
CT, US
IPC
G06F 15/64
G01C 21/00
G06E 15/50
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