Triangulation in omnidirectional vision under the L∞-norm

The triangulation method is the basic method for robots to exactly locate points in unknown environments. But the traditional triangulation method has the drawback that its solution is locally optimal. This paper devise a novel solution to triangulation in omnidirectional vision under the L_∞-norm, which provides a theoretical guarantee of global optimality and a wide field of view. We give three different kinds of frameworks according to the omnidirectional vision model. A robot with this algorithm, which provides global optimality and a wide field of view demonstrated by good performance in experiments for synthetic and real data, has a more exact location and 3D reconstruction ability, which cannot be provided by traditional triangulation method under traditional vision system.