{"type":"ScholarlyArticle","title":"Mobile Robot Navigation by an Active Control of the Vision System","authors":[{"name":"Patrick Stelmaszyk","slug":"patrick-stelmaszyk","given":"Patrick","family":"Stelmaszyk","affiliation":""},{"name":"Hiroshi Ishiguro","slug":"hiroshi-ishiguro","given":"Hiroshi","family":"Ishiguro","affiliation":""},{"name":"Saburo Tsuji","slug":"saburo-tsuji","given":"Saburo","family":"Tsuji","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/1991/183","pdf":"https://ijcai.org/proceedings/1991/0183.pdf","markdown":"https://ijcai.org/proceedings/1991/183.md","bibtex":"https://ijcai.org/proceedings/1991/bibtex/183","volume":{"slug":"1991","title":"Proceedings of the Twelfth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1991","url":"https://ijcai.org/proceedings/1991/","year":1991,"location":"Sydney, New South Wales, Australia","dates":"24-30 August 1991","editors":"John Mylopoulos and Ray Reiter","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":183,"pages":{"first":1241,"last":1245},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}