Bird's - Eye View Image for the Localization of a Mobile Robot by Means of Trilateration

In this paper we introduce a method for the localization of a low\u2013cost mobile robot,based on the use of a monocular camera. We consider a robot moving in a bi\u2013dimensionalenvironment, where some landmarks are placed in known positions. The acquired image of theenvironment is converted into a bird\u2019s\u2013eye view image, used to measure the distance of the robotfrom the landmarks, to compute the robot\u2019s position by means of trilateration. The proposedstrategy is able to compute both the position and the orientation of the robot