DocumentCode
957445
Title
A guide to vision-based map building
Author
Wooden, David
Author_Institution
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
Volume
13
Issue
2
fYear
2006
fDate
6/1/2006 12:00:00 AM
Firstpage
94
Lastpage
98
Abstract
This paper describes a simple vision-based mapping system for mobile robot navigation in an unknown outdoor environment, consistent with the efforts of Georgia Tech´s team for the DARPA-sponsored Learning Applied to Ground Robots (LAGR) project. This approach, which has been robust to different environments and responsive to time-critical constraints, is a good example of robotics in practice
Keywords
mobile robots; robot vision; Learning Applied to Ground Robots project; camera frames; coordinate transformations; cost maps; map building; mobile robot navigation; outdoor real-time robotics platform; stereo depth maps; unknown outdoor course; vision-based mapping system; Cameras; Computational geometry; Global Positioning System; Hardware; Linux; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Switches;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/MRA.2006.1638021
Filename
1638021
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