Generic models for robot navigation

The authors introduce the concept of an explicit generic building model. This abstract model is valid for a broad class of buildings. It uses mechanisms that have been used to build generic models for other object classes, including machine screws and generalized cylinders. These methods extend the generality of object classes which can be implemented, compared to previous implementations of object classes. Using a combination of epipolar stereo vision from the mobile robot along with monocular vision, the generic model is instantiated. This instantiation can be used for robot navigation