Title :
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
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;
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Shandong
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
DOI :
10.1109/ICIA.2006.305813
