A Vision-Based Odometer for Localization of Omnidirectional Indoor Robots

. 2020 Feb 6;20(3):875. doi: 10.3390/s20030875

Algorithm 1 Geometric invariance check

Input: K_S, K_T, t.
Output: K_S_out, K_T_out.

1.
K_S_out = [], K_T_out = []
2.
n = Size(K_S);
3.
C = ComputeCardinality(n);
4.
[G_S, G_T] = RandomSelection(K_S, K_T, C);
5.
For each item i of G_S do
6.
CLL_S = ComputeCLL(G_S[i]); CLL_T = ComputeCLL(G_T[i]);
7.
Count = 0;
8.
For each item j of CLL_S do
9.
If $(\frac{\min (C L L_{S} [j] . L e n g t h, C L L_{T} [j] . L e n g t h)}{\max (C L L_{S} [j] . L e n g t h, C L L_{T} [j] . L e n g t h)} \geq t)$ then
10.
Count = Count + 1;
11.
End If
12.
If (Count == C) then
13.
Insert G_S[i] in K_S_out; Insert G_T[i] in K_T_out;
14.
End If
15.
End For
16.
End For
17.
ReturnK_S_out, K_T_out.