Title :
Model-driven pose correction
Author :
Roth, Yuval ; Win, A.S. ; Arpaci, Remzi H. ; Weymouth, Terry ; Jain, Ramesh
Author_Institution :
Artificial Intelligence Lab., Michigan Univ., Ann Arbor, MI, USA
Abstract :
Pose determination for robot navigation is discussed. The problem is to maintain the system´s instantaneous precept of its position and orientation in space for performing various tasks. The authors describe a system in which models were used to guide the sensory interpretation and to correct expectations. In this system, simulated images were used to analyze the real images and to correct the pose parameters. The reported techniques have been implemented and experiments with real images in a real environment have been performed
Keywords :
image recognition; mobile robots; navigation; position control; feature matching; image recognition; model driven pose correction; position control; robot navigation; sensory interpretation; Analytical models; Artificial intelligence; Biological system modeling; Control system synthesis; Image analysis; Laboratories; Laser feedback; Navigation; Silicon; Wheels;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220046