Three Object Triangulation

Ten mobile robots entered the AAAI '92 mobile robot competition. CARMEL (above), the University of Michigan entry, won. The competition consisted of three phases which tested the system's obstacle avoidance, navigation, and vision processing capabilities. I was one of four team leaders, mainly in charge of the camera neck hardware interfacing and the landmark triangulation group. For this project I supervised graduate and undergraduate students, and also worked actively in the overall integration of the system. As a result of the triangulation work, I was a primary author (with Frank Koss) of a paper detailing a comprehensive study three object triangulation, which was referenced in Dr. Borenstein's "Navigating Mobile Robots: Systems and Techniques" book as being a detailed analysis on many three-point triangulation algorithms. The circle method is shown below.

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