Vision for mobile robot navigation: a survey

Author

DeSouza, Guilherme N. ; Kak, Avinash C.

Author_Institution

Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA

Volume

24

Issue

2

fYear

2002

fDate

2/1/2002 12:00:00 AM

Firstpage

237

Lastpage

267

Abstract

Surveys the developments of the last 20 years in the area of vision for mobile robot navigation. Two major components of the paper deal with indoor navigation and outdoor navigation. For each component, we have further subdivided our treatment of the subject on the basis of structured and unstructured environments. For indoor robots in structured environments, we have dealt separately with the cases of geometrical and topological models of space. For unstructured environments, we have discussed the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment

Keywords

computer vision; image sequences; mobile robots; object recognition; path planning; appearance-based paradigm; computer vision; geometrical models; indoor navigation; indoor robots; mobile robot navigation; objects recognition; optical flows; outdoor navigation; structured environments; topological models; unstructured environments; Cameras; Computer vision; Geometrical optics; Image motion analysis; Mobile robots; Navigation; Neural networks; Orbital robotics; Robot vision systems; Solid modeling;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/34.982903

Filename

982903