Title :
Positional estimation of a mobile robot using edge visibility regions
Author :
Talluri, Raj ; Aggarwal, J.K.
Author_Institution :
Comput. & Vision Res. Center, Texas Univ., Austin, TX, USA
Abstract :
A technique is presented for estimating the position and pose of an autonomous mobile robot navigating in an outdoor, urban environment consisting of polyhedral buildings. The 3-D description of the roof tops of the buildings are assumed to be given as a world model. A discussion is presented of the uses of an intermediate representation of the environment, called the edge visibility regions (EVRs), in the positional estimation process
Keywords :
computer vision; mobile robots; spatial reasoning; 3D description; autonomous mobile robot; buildings; edge visibility regions; intermediate representation; mobile robot; polyhedral buildings; positional estimation process; roof tops; urban environment; Cameras; Computer vision; Feature extraction; Image sensors; Mobile robots; Navigation; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-8186-2148-6
DOI :
10.1109/CVPR.1991.139795
