Title :
A spherical model for navigation and spatial reasoning
Author_Institution :
Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA
Abstract :
In relation to mobile robot navigation, a spherical model of the perceptual space and its relation to the path space and configuration space are investigated. In particular, some results of spherical octree, optical flow, motion analysis, surface and depth information, navigation, and collision avoidance in the spherical model are discussed. These results can be applied in the development of a dynamical spatial information system. The optical flow information is used to extract local characteristics like depth and surface geometry in the environment. The spherical (octree) data structure provides an efficient and unified representation scheme for multisensor fusion, navigation, motor control, and spatial reasoning
Keywords :
mobile robots; navigation; position control; spatial reasoning; collision avoidance; configuration space; depth geometry; dynamical spatial information system; mobile robot navigation; motion analysis; motor control; multisensor fusion; navigation; optical flow; path space; perceptual space; spatial reasoning; spherical model; spherical octree; surface geometry; Collision avoidance; Data mining; Data structures; Geometrical optics; Image motion analysis; Information geometry; Information systems; Mobile robots; Motion analysis; Navigation;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126081
