Robot Floor-Tiling Control Method Based on Finite-State Machine and Visual Measurement in Limited FOV

Table 2

The recognition strategy of tile boundaries (condition 3 as an example).

Tile boundary number
	Two minimum	Two maximum	Compare values	Two minimum	Two maximum	Compare values
1	✓					1 < 5
5	✓
2			2 < 3	✓
3				✓
6			6 < 7		✓
7					✓
4		✓				4 < 8
8		✓