Model-Based Visual Navigation System For A Mobile Robot

Juha Roning; Matti Pietikainen; Mikko Lindholm; Tapio Taipale

doi:10.1117/12.949100

10 March 1989 Model-Based Visual Navigation System For A Mobile Robot

Juha Roning, Matti Pietikainen, Mikko Lindholm, Tapio Taipale

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949100
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

A model-based visual navigation system developed at the University of Oulu is described. The system consists of a hierarchy of processing levels where low level stages are data driven and the highest stage is model driven. With passive three-camera stereovision a sparse depth map of the scene is produced. Descriptions of important local scene structures are extracted using the properties of edge segments and relations between neighboring segments. The nature of the environment and world constraints are exploited to support extraction of the description. Prior knowledge of the world is used for global path finding, aiding scene analysis and providing feedback information to close the control loop between planned and actual movements.

Citation Download Citation

Juha Roning, Matti Pietikainen, Mikko Lindholm, and Tapio Taipale "Model-Based Visual Navigation System For A Mobile Robot", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949100

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