A navigation system for vision-guided mobile robots

Author

Vitabile, S. ; Pilato, G. ; Pullara, F. ; Sorbello, F.

Author_Institution

Dipt. di Ingegneria Elettrica, Palermo Univ., Italy

fYear

1999

fDate

1999

Firstpage

566

Lastpage

571

Abstract

In this paper we present a vision system for an autonomous mobile robot. Our robot performs goal-reaching tasks into unknown indoor environments by using visual landmarks. Robot vision processes are performed at different levels of abstraction in order to extract useful information for robot navigation. The system, based on the HSV color space, is implemented by two groups of parallel processes: a low-level vision system performs obstacle avoidance and corridor following, while a high-level vision system extracts landmark contents for high-level planning. System performance was tested on sets of digital images supplied by the RWI B12 mobile robot camera

Keywords

collision avoidance; image colour analysis; mobile robots; navigation; robot vision; HSV color space; RWI B12 mobile robot camera; autonomous mobile robot; corridor following; digital images; goal-reaching tasks; high-level planning; high-level vision system; landmark contents; low-level vision system; navigation system; obstacle avoidance; robot vision; system performance; unknown indoor environments; vision-guided mobile robots; visual landmarks; Color; Data mining; Indoor environments; Machine vision; Mobile robots; Navigation; Orbital robotics; Process planning; Robot vision systems; System performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Image Analysis and Processing, 1999. Proceedings. International Conference on

Conference_Location

Venice

Print_ISBN

0-7695-0040-4

Type

conf

DOI

10.1109/ICIAP.1999.797656

Filename

797656