Title :
On estimating a robot´s motion from laser range measurements using the distance transform
Author :
Klöör, Per Ljunggren ; Wernersson, A.
Author_Institution :
Linkoping Univ., Sweden
fDate :
30 Aug-3 Sep 1992
Abstract :
The long term goal is to find generic methods for navigating a robot relative to objects of arbitrary shape. Both range measuring lasers and range cameras are considered. The authors study the distance transform on measurements for estimating the motion of a robot relative to an object of arbitrary shape. Emphasis is on the error mechanism when tested on cluttered outdoor and indoor scenes. Also the laser measurements are modelled for different types of object/surface properties. Potential applications are outdoor vehicles as well as industrial robots and AGVs
Keywords :
distance measurement; laser beam applications; navigation; pattern recognition; position control; robots; AGV; distance transform; error mechanism; laser range measurements; motion estimation; pattern recognition; position control; range cameras; robot navigation; Cameras; Laser modes; Motion estimation; Motion measurement; Navigation; Robot motion; Robot vision systems; Service robots; Shape measurement; Testing;
Conference_Titel :
Pattern Recognition, 1992. Vol.I. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on
Conference_Location :
The Hague
Print_ISBN :
0-8186-2910-X
DOI :
10.1109/ICPR.1992.201674
