{"type":"ScholarlyArticle","title":"Visual Path Planning by a Mobile Robot","authors":[{"name":"Saburo Tsuji","slug":"saburo-tsuji","given":"Saburo","family":"Tsuji","affiliation":""},{"name":"Jiang Yu Zheng","slug":"jiang-yu-zheng","given":"Jiang Yu","family":"Zheng","affiliation":""}],"abstract":"Stereo-vision-based mobile robots observe their environments and acquire 3-0 data with considerab 1e errors in range. Rather than to use the convention a 1 2-0 maps, described with these i naccurate data in the absolute coordinate system, a flexible relational model of the global world can be built with 1oca 1 maps sui ted for each function of robots such as path planning or manipulation. For the path planning, a perspective representation of the local world, the image on which the scene interpretation is mapped, is proposed. Using wor 1d constraints and sensory information of camera orientation, a stereo-image analyzer determines vertical projections of edge points on the floor in the image. A method for planning of promising paths to the specified goal using this representation is presented.","doi":null,"url":"https://ijcai.org/proceedings/1987/228","pdf":"https://ijcai.org/proceedings/1987/0228.pdf","markdown":"https://ijcai.org/proceedings/1987/228.md","bibtex":"https://ijcai.org/proceedings/1987/bibtex/228","volume":{"slug":"1987","title":"Proceedings of the Tenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1987","url":"https://ijcai.org/proceedings/1987/","year":1987,"location":"Milan, Italy","dates":"","editors":"John McDermott","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":228,"pages":{"first":1127,"last":1129},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}