On estimating a robot´s motion from laser range measurements using the distance transform

Author

Klöör, Per Ljunggren ; Wernersson, A.

Author_Institution

Linkoping Univ., Sweden

fYear

1992

fDate

30 Aug-3 Sep 1992

Firstpage

772

Lastpage

776

Abstract

The long term goal is to find generic methods for navigating a robot relative to objects of arbitrary shape. Both range measuring lasers and range cameras are considered. The authors study the distance transform on measurements for estimating the motion of a robot relative to an object of arbitrary shape. Emphasis is on the error mechanism when tested on cluttered outdoor and indoor scenes. Also the laser measurements are modelled for different types of object/surface properties. Potential applications are outdoor vehicles as well as industrial robots and AGVs

Keywords

distance measurement; laser beam applications; navigation; pattern recognition; position control; robots; AGV; distance transform; error mechanism; laser range measurements; motion estimation; pattern recognition; position control; range cameras; robot navigation; Cameras; Laser modes; Motion estimation; Motion measurement; Navigation; Robot motion; Robot vision systems; Service robots; Shape measurement; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 1992. Vol.I. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on

Conference_Location

The Hague

Print_ISBN

0-8186-2910-X

Type

conf

DOI

10.1109/ICPR.1992.201674

Filename

201674