A spherical model for navigation and spatial reasoning

Author

Chen, Su-Shing

Author_Institution

Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

776

Abstract

In relation to mobile robot navigation, a spherical model of the perceptual space and its relation to the path space and configuration space are investigated. In particular, some results of spherical octree, optical flow, motion analysis, surface and depth information, navigation, and collision avoidance in the spherical model are discussed. These results can be applied in the development of a dynamical spatial information system. The optical flow information is used to extract local characteristics like depth and surface geometry in the environment. The spherical (octree) data structure provides an efficient and unified representation scheme for multisensor fusion, navigation, motor control, and spatial reasoning

Keywords

mobile robots; navigation; position control; spatial reasoning; collision avoidance; configuration space; depth geometry; dynamical spatial information system; mobile robot navigation; motion analysis; motor control; multisensor fusion; navigation; optical flow; path space; perceptual space; spatial reasoning; spherical model; spherical octree; surface geometry; Collision avoidance; Data mining; Data structures; Geometrical optics; Image motion analysis; Information geometry; Information systems; Mobile robots; Motion analysis; Navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126081

Filename

126081