Title :
A practical implementation of a multilevel architecture for vision-based navigation
Author :
Ferrari, F. ; Fossa, M. ; Grosso, E. ; Magrassi, M. ; Sandini, G.
Author_Institution :
Dept. of Commun. Comput. & Syst. Sci., Genova Univ., Italy
Abstract :
The paper summarizes the current work of the DIST-University of Genoa in the field of mobile robotic control. In particular the authors describe the implementation of a multilevel architecture for navigation, based on a stereo vision system, which allows obstacle avoidance, detection of free corridors and low level planning by means of few known landmarks such as color spots or vertical edges. Each level is, in principle, independent from the others. Appropriate motor actions are carried out combining the parallel behavior of the different levels.<>
Keywords :
computer vision; image recognition; mobile robots; navigation; path planning; DIST; University of Genoa; color spots; low level path planning; mobile robotic control; multilevel architecture; obstacle avoidance; stereo vision system; vertical edges; vision-based navigation; Computer architecture; Computer vision; Laboratories; Layout; Mobile communication; Mobile robots; Navigation; Robot vision systems; Telephony; Vehicle safety;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240410
