Household robots look and learn: environment modeling and localization from an omnidirectional vision system

Author

Kröse, Ben ; Bunschoten, Roland ; Hagen ST ; Terwijn, Bas ; Vlassis, Nikos

Author_Institution

Amsterdam Univ., Netherlands

Volume

11

Issue

4

fYear

2004

Firstpage

45

Lastpage

52

Abstract

The work illustrates that a catadioptric omnidirectional vision system can be successfully applied for basic mobile robot navigation tasks, such as localization and environment learning. In combination with other capabilities of such a sensor, such as the recognition and tracking of humans, and because the price of such systems can be made low, this system is particularly suited for systems that are expected to operate in offices and homes in the near future, such as robotic servant systems, entertainment robots, and help for the elderly and disabled.

Keywords

learning systems; mobile robots; path planning; robot vision; service robots; autonomous environment; catadioptric omnidirectional vision system; depth estimation; entertainment robot; environment learning; environment representation; household robot; map building; mobile robot navigation task; robot localization; robotic servant system; Cameras; Machine vision; Mirrors; Mobile robots; Robot localization; Robot sensing systems; Robot vision systems; Robotics and automation; Service robots; Solid modeling;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2004.1371608

Filename

1371608