Calibration-free Visual Navigation of Robot in a Maze

Author

Jiaqian, Chen ; Yan, He ; Jingping, Jiang

Author_Institution

Coll. of Electr. Eng., Zhejiang Univ., Hangzhou

fYear

2006

fDate

20-23 Aug. 2006

Firstpage

65

Lastpage

69

Abstract

In this article we present a novel navigation approach for an autonomous robot in an unknown maze based on calibration-free visual information. On one hand, we segment images to obtain the approximate traversable region and on the other hand the lines and corners in images are also extracted to help a robot understanding the topological structure. In the experiment, our navigation approach running on a pioneer 3-DX robot is proved to be effective.

Keywords

approximation theory; calibration; edge detection; feature extraction; image segmentation; mobile robots; path planning; robot vision; approximate traversable region; autonomous robot; calibration-free visual robot navigation; image corner extraction; image segmentation; maze topological structure; visual feature; Calibration; Cameras; Data mining; Educational institutions; Mobile robots; Navigation; Road transportation; Robot sensing systems; Robot vision systems; Turning; autonomous robot; dead and living corner; maze; navigation; robot vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Acquisition, 2006 IEEE International Conference on

Conference_Location

Shandong

Print_ISBN

1-4244-0528-9

Electronic_ISBN

1-4244-0529-7

Type

conf

DOI

10.1109/ICIA.2006.305813

Filename

4097746