Title :
Mobile Robot Exploration via Pseudo Range Model
Author :
Kim, Ryun Seok ; Choi, Hyukdoo ; Kim, Euntai ; Park Chang-Woo
Author_Institution :
Comput. Intell. Lab., Yonsei Univ., Seoul, South Korea
Abstract :
This paper presents an autonomous exploration system using a robot equipped with a vision sensor but no range sensor. The fully automatic exploration system operating on a mobile robot determines the next motion in the environment. We extract ceiling boundaries from images. Then we use the pseudo range model that converts the ceiling boundary to range information. This paper proposes the vision based exploration system and presents experimental results.
Keywords :
mobile robots; path planning; robot vision; autonomous exploration system; ceiling boundary; mobile robot exploration; pseudorange model; vision based exploration system; vision sensor; Image edge detection; Mobile communication; Mobile robots; Simultaneous localization and mapping; autonomous exploration; ceiling vision; pseudo range model; simultaneous localization and mapping(SLAM);
Conference_Titel :
Computers, Networks, Systems and Industrial Engineering (CNSI), 2011 First ACIS/JNU International Conference on
Conference_Location :
Jeju Island
Print_ISBN :
978-1-4577-0180-1
DOI :
10.1109/CNSI.2011.59
