Title :
Supporting real-time update of an environment representation for autonomous mobile robots
Author :
Magin, Gunter ; Russ, Achim
Author_Institution :
Dept. of Process Control Comput., Tech. Univ. Munchen, Germany
Abstract :
A model of the environment is a mandatory requirement for the autonomy of a mobile robot. As the environment may change over time, methods are necessary to update the model information, keeping pace with the sensor frame rate. Our approach to cope with this real time problem is to predict virtual sensor images, which are then compared against the real perceptions. Two alternative methods are detailed: model based prediction and history based prediction
Keywords :
computer vision; feature extraction; mobile robots; path planning; autonomous mobile robots; environment representation; history based prediction; model based prediction; model information; real-time update; sensor frame rate; virtual sensor images; Computational geometry; Data mining; Image sensors; Mobile robots; Predictive models; Process control; Reflection; Sensor phenomena and characterization; Sensor systems; Uncertainty;
Conference_Titel :
Real-Time Systems, 1994. Proceedings., Sixth Euromicro Workshop on
Conference_Location :
Vaesteraas
Print_ISBN :
0-8186-6340-5
DOI :
10.1109/EMWRTS.1994.336868
