Translator Disclaimer
15 November 1999 Getting more from the scene for autonomous navigation: UGV Demo III program
Author Affiliations +
Proceedings Volume 3838, Mobile Robots XIV; (1999) https://doi.org/10.1117/12.369252
Event: Photonics East '99, 1999, Boston, MA, United States
Abstract
In order for an autonomous robot to “appropriately” navigate through a complex environment, it must have an in-depth understanding of the immediate surroundings. Appropriate navigation implies the robot will avoid collision or contact with hazards, will not be falsely rerouted around traversible terrain due to false hazard detections, and will exploit the terrain to maximize its concealment. Appropriate autonomous navigation requires the ability to detect and localize critical features in the environment. Examples of critical environmental features include rocks, trees, ditches, holes, bushes and water. Environmental features have a wide range of characteristics and multiple sensing phenomenologies are required to be able to detect them all. Once the data is acquired from these multiple phenomenologies, a mechanism is required to combine and analyze all of these disparate sources of information into one composite interpretation. In this paper we discuss the Demo III multi-sensor system for autonomous mobility, and the “operator-trained” fusion system called O-NAV (Object NAVigation) that is used to build a labeled three dimensional model of the immediate environment surrounding the robot vehicle so it can appropriately interact with its surroundings.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Mark Rosenblum and Benny M. Gothard "Getting more from the scene for autonomous navigation: UGV Demo III program", Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); https://doi.org/10.1117/12.369252
PROCEEDINGS
12 PAGES


SHARE
Advertisement
Advertisement
RELATED CONTENT

ONR 30 autonomous ground system program overview
Proceedings of SPIE (May 05 2017)
Dynamic Omnidirectional Vision For Mobile Robots
Proceedings of SPIE (December 11 1985)
Assessment of a visually guided autonomous exploration robot
Proceedings of SPIE (October 16 2008)
A Computer Vision For Navigation Of Mobile Robots
Proceedings of SPIE (January 01 1987)

Back to Top