DocumentCode :
1739833
Title :
Exploration and navigation in corridor environment based on Omni-View sequence
Author :
Matsumoto, Yoshio ; Ikeda, Kazunori ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan
Volume :
2
fYear :
2000
fDate :
2000
Firstpage :
1505
Abstract :
A map is a description which represents the structure of an environment. In order for a robot to move from a point to another efficiently in an environment, a map of the environment is the essential information. “Omni-View Sequence” is a kind of route representation which we have developed for robot navigation in a corridor environment. It contains a sequence of omnidirectional views as the information of a route. However it cannot be regarded as a map, because the start and the goal points of the route are both fixed. In this paper, we first propose a map named “view-sequenced map” which can represents a whole corridor environment on a floor in a building. Then we describe the method for acquiring a view-sequenced map automatically based on the exploration of a robot in a corridor using both stereo and omnidirectional vision. Finally experimental results of the map acquisition and the autonomous navigation are presented to show the feasibility of the proposed map representation
Keywords :
computerised navigation; image sequences; mobile robots; robot vision; stereo image processing; Omni-View sequence; corridor environment; exploration; map representation; navigation; omnidirectional view sequence; omnidirectional vision; stereo vision; view-sequenced map; Cameras; Education; Floors; Information science; Merging; Mobile robots; Navigation; Robot vision systems; Robotics and automation; Uniform resource locators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
Type :
conf
DOI :
10.1109/IROS.2000.893233
Filename :
893233
Link To Document :
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