Title :
A navigation system for vision-guided mobile robots
Author :
Vitabile, S. ; Pilato, G. ; Pullara, F. ; Sorbello, F.
Author_Institution :
Dipt. di Ingegneria Elettrica, Palermo Univ., Italy
Abstract :
In this paper we present a vision system for an autonomous mobile robot. Our robot performs goal-reaching tasks into unknown indoor environments by using visual landmarks. Robot vision processes are performed at different levels of abstraction in order to extract useful information for robot navigation. The system, based on the HSV color space, is implemented by two groups of parallel processes: a low-level vision system performs obstacle avoidance and corridor following, while a high-level vision system extracts landmark contents for high-level planning. System performance was tested on sets of digital images supplied by the RWI B12 mobile robot camera
Keywords :
collision avoidance; image colour analysis; mobile robots; navigation; robot vision; HSV color space; RWI B12 mobile robot camera; autonomous mobile robot; corridor following; digital images; goal-reaching tasks; high-level planning; high-level vision system; landmark contents; low-level vision system; navigation system; obstacle avoidance; robot vision; system performance; unknown indoor environments; vision-guided mobile robots; visual landmarks; Color; Data mining; Indoor environments; Machine vision; Mobile robots; Navigation; Orbital robotics; Process planning; Robot vision systems; System performance;
Conference_Titel :
Image Analysis and Processing, 1999. Proceedings. International Conference on
Conference_Location :
Venice
Print_ISBN :
0-7695-0040-4
DOI :
10.1109/ICIAP.1999.797656
