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AbstractÐIn robot navigation, one of the important and fundamental issues is to find positions of landmarks or vision sensors located around the robot. This paper proposes a method for reconstructing qualitative positions of multiple vision sensors from qualitative information observed by the vision sensors, i.e., motion directions of moving objects. In order to directly acquire the qualitative positions of points, the method proposed in this paper iterates the following steps: 1) observingdoi:10.1109/34.910879 fatcat:3f2m36sn5nh7xforsdkruuhseu