Title :
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
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2004.1371608
