Visual feedback for autonomous navigation

Author

Hervé, Jean-Yves

Author_Institution

Comput. Vision Lab., Maryland Univ., College Park, MD, USA

fYear

1991

fDate

13-16 Oct 1991

Firstpage

219

Abstract

The author addresses the problem of visual navigation, and through it the more general problem of sensor-mediated movement. A new approach to the navigation problem is proposed, in which visual processes are closely and actively integrated with the control of the robotic system. In the case of obstacle avoidance, the concepts of free space doors and corridors are introduced and it is shown that this dynamic information is easier to extract from the sequence of incoming images than the depth map traditionally used. Though poorer in content, the information is still sufficient for the purpose of closed-loop planning and control of trajectories to the goal

Keywords

artificial intelligence; feedback; navigation; pattern recognition; planning (artificial intelligence); robots; autonomous navigation; closed-loop planning; depth map; dynamic information; obstacle avoidance; path planning; robotic system; sensor-mediated movement; visual navigation; Backpropagation algorithms; Computational geometry; Control systems; Feedback; Laboratories; Legged locomotion; Navigation; Robot control; Robot sensing systems; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on

Conference_Location

Charlottesville, VA

Print_ISBN

0-7803-0233-8

Type

conf

DOI

10.1109/ICSMC.1991.169688

Filename

169688