Title :
Selective refinement of 3-D scene description by attentive observation for mobile robot
Author :
Takizawa, Hotaka ; Shirai, Yoshiaki ; Miura, Jun
Author_Institution :
Osaka Univ., Japan
Abstract :
This paper describes a navigation method for a mobile robot by attentive observation. A 3D scene description is constructed with the constrained Delaunay triangulation and a path to a given destination is determined from the description. If any reliable path is not found, the unknown image region on the most promising path is observed attentively. The newly obtained data is integrated to the original description and a path is searched for in the new description. The experimental results are shown
Keywords :
image matching; mesh generation; mobile robots; navigation; path planning; robot vision; stereo image processing; 3D scene description; attentive observation; constrained Delaunay triangulation; mobile robot; navigation; path planning; Apertures; Cameras; Costs; Focusing; Image resolution; Layout; Lenses; Mobile robots; Navigation; Robot vision systems;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407527
