Mobile Robot Navigation by an Active Control of the Vision System
Proceedings of the Twelfth International Joint Conference on Artificial Intelligence. Robotics. Pages 1241-1245.
Abstract
In this paper, we argue that a mobile robot's environment can be det~rmined by computing local maps surrounding feature points, called fixation points. These fixation points are obtained by searching the scene for points which present some interesting cue for robot navigation. This 3-D computation is based on a monocular active vision system composed of a camera, mounted on a rotating table accurately controlled by a computer, which gazes the fixation point as the robot moves. The system then computes the local map and updates it with each new observation in order to increase its accuracy and robustness. Real experimentation in a complex indoor scene illustrates that the 3-D scene coordinates can be obtained with a good accuracy by integrating several observations.
@inproceedings{ijcai1991p183,
title = {Mobile Robot Navigation by an Active Control of the Vision System},
author = {Stelmaszyk, Patrick and Ishiguro, Hiroshi and Tsuji, Saburo},
booktitle = {Proceedings of the Twelfth International Joint Conference on
Artificial Intelligence, {IJCAI-91}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {John Mylopoulos and Ray Reiter},
pages = {1241--1245},
year = {1991},
month = {8},
note = {Robotics},
url = {https://ijcai.org/proceedings/1991/183},
}
TY - CPAPER TI - Mobile Robot Navigation by an Active Control of the Vision System AU - Stelmaszyk, Patrick AU - Ishiguro, Hiroshi AU - Tsuji, Saburo T2 - Proceedings of the Twelfth International Joint Conference on Artificial Intelligence, IJCAI-91 PB - International Joint Conferences on Artificial Intelligence PY - 1991 SP - 1241 EP - 1245 UR - https://ijcai.org/proceedings/1991/183 ER -Copied
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