Title :
Navigation based on a network of 2D images
Author :
Wilkes, D. ; Dickinson, S. ; Rivlin, E. ; Basri, R.
Author_Institution :
Dept. of Comput. Sci., Toronto Univ., Ont., Canada
Abstract :
This paper describes the integration of 2D stimulus-driven robot localization and positioning with a token-based correspondence method in a practical robot navigation system. The approach allows for modular acquisition and update of world knowledge for navigation, and robustness of navigation to low-level errors. No special marking of the world is necessary, so the robot may operate in quite general environments. Tests in a real industrial environment confirm the potential of the method
Keywords :
robot vision; 2D images; feature space; image representation; navigation system; positioning; robot localization; robot vision; token-based correspondence; world knowledge update; Error correction; Navigation; Robot kinematics; Robot localization; Robot sensing systems; Robustness; Service robots; Sonar measurements; Testing; Wire;
Conference_Titel :
Pattern Recognition, 1994. Vol. 1 - Conference A: Computer Vision & Image Processing., Proceedings of the 12th IAPR International Conference on
Conference_Location :
Jerusalem
Print_ISBN :
0-8186-6265-4
DOI :
10.1109/ICPR.1994.576302
