The science and engineering of robot location

The paper describes the identification of building features in an image of a tower block, using data from a CAD model of the building. The aim is to be able to locate a wall climbing robot that is being used for building inspection. The image taken contains the majority of the building, and the aim is to find in that image the position of the robot, such that it can be said to be, for example, a measured distance to the left, of the third window from the left hand side, on the fifth floor. Earlier work has shown how image features such as windows and doors may be identified. The paper continues to show how those features are mapped to corresponding features found from the building´s CAD model. The mapping procedure is described in detail, and the paper includes details of the sorting algorithm used for labelling window features in the image and CAD model