Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment


Autoria(s): Sarachik, Karen Beth
Data(s)

20/10/2004

20/10/2004

01/03/1989

Resumo

The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room it is inspecting, such as moving objects. Forward and rotational motion vision are used to find doors and rooms, and these can be used to build topological maps. The map is built without the use of odometry or trajectory integration. The long term goal of the project described here is for the robot to build simple maps of its environment and to localize itself within this framework.

Formato

91 p.

7151707 bytes

5027637 bytes

application/postscript

application/pdf

Identificador

AITR-1113

http://hdl.handle.net/1721.1/6829

Idioma(s)

en_US

Relação

AITR-1113

Palavras-Chave #map making #mobile robot #motion vision #robot navigation #sstereo vision