1 April 1991 Workstation recognition using a constrained edge-based Hough transform for mobile robot navigation
Author Affiliations +
Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25290
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Abstract
Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This algorithm deals with the uncertainty inherent in a mobile robot by making use of a spatial uncertainty map maintained by the robot. Several iterations of the Hough transform are run with transformed models of the dock. Votes are accumulated in a collapsed Hough space which, although unable to recover range and orientation information, simplifies locating the dock within the image.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
David L. Vaughn, David L. Vaughn, Ronald C. Arkin, Ronald C. Arkin, } "Workstation recognition using a constrained edge-based Hough transform for mobile robot navigation", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25290; https://doi.org/10.1117/12.25290
PROCEEDINGS
12 PAGES


SHARE
Back to Top