Model building and autonomous exploration

Peter Whaite; Frank P. Ferrie

doi:10.1117/12.150187

6 August 1993 Model building and autonomous exploration

Peter Whaite, Frank P. Ferrie

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150187
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

We define autonomous exploration as a process by which an active observer can interact with its surroundings, e.g., by intentionally moving around and collecting information, in order to learn about its environment. Such an ability is essential for autonomous systems that must operate in unstructured environments, i.e., where it is difficult (if not impossible) to characterize the environment beforehand. This paper describes a working system that implements an autonomous explorer whose function is to describe the environment in terms of articulated volumetric models. A novel feature of the system is that it uses feedback to reduce reliance on a priori knowledge.

Citation Download Citation

Peter Whaite and Frank P. Ferrie "Model building and autonomous exploration", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150187

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