{"type":"ScholarlyArticle","title":"Model-Guided Monitoring of a Building Environment by a Mobile Robot","authors":[{"name":"Masahiko Yachida","slug":"masahiko-yachida","given":"Masahiko","family":"Yachida","affiliation":""},{"name":"T. Ichinose","slug":"t-ichinose","given":"T.","family":"Ichinose","affiliation":""},{"name":"Saburo Tsuji","slug":"saburo-tsuji","given":"Saburo","family":"Tsuji","affiliation":""}],"abstract":"This paper presents an Initial attempt to build a mobile robot which navigates ' In and monitors buildings such as offices, schools 1 f actorles 1 hospitals 1 etc. and reports changes there to an human operator. The robot is initially parked at a standard position and Is then driven. around passages of the building via a given route. While moving around, it stops every a few meters, takes a picture and compares the picture with a stored model of the building. It first extracts vertical edges • from the Image which often appear in the building scene as stably extracted features, and then determines camera parameters (such as camera position) by matching the extracted features and the model. Using these camera parameters, it generates an Image model from the building model and detects changes in the scene by comparing the Input Image and the generated image model.","doi":null,"url":"https://ijcai.org/proceedings/1983/261","pdf":"https://ijcai.org/proceedings/1983/0261.pdf","markdown":"https://ijcai.org/proceedings/1983/261.md","bibtex":"https://ijcai.org/proceedings/1983/bibtex/261","volume":{"slug":"1983","title":"Proceedings of the Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1983","url":"https://ijcai.org/proceedings/1983/","year":1983,"location":"Karlsruhe, West Germany","dates":"","editors":"Alan Bundy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Vision","track":"Vision","number":261,"pages":{"first":1125,"last":1126},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}