DocumentCode
3599363
Title
Selective refinement of 3-D scene description by attentive observation for mobile robot
Author
Takizawa, Hotaka ; Shirai, Yoshiaki ; Miura, Jun
Author_Institution
Osaka Univ., Japan
Volume
2
fYear
1994
Firstpage
1118
Abstract
This paper describes a navigation method for a mobile robot by attentive observation. A 3D scene description is constructed with the constrained Delaunay triangulation and a path to a given destination is determined from the description. If any reliable path is not found, the unknown image region on the most promising path is observed attentively. The newly obtained data is integrated to the original description and a path is searched for in the new description. The experimental results are shown
Keywords
image matching; mesh generation; mobile robots; navigation; path planning; robot vision; stereo image processing; 3D scene description; attentive observation; constrained Delaunay triangulation; mobile robot; navigation; path planning; Apertures; Cameras; Costs; Focusing; Image resolution; Layout; Lenses; Mobile robots; Navigation; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407527
Filename
407527
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