Title :
A guide to vision-based map building
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
fDate :
6/1/2006 12:00:00 AM
Abstract :
This paper describes a simple vision-based mapping system for mobile robot navigation in an unknown outdoor environment, consistent with the efforts of Georgia Tech´s team for the DARPA-sponsored Learning Applied to Ground Robots (LAGR) project. This approach, which has been robust to different environments and responsive to time-critical constraints, is a good example of robotics in practice
Keywords :
mobile robots; robot vision; Learning Applied to Ground Robots project; camera frames; coordinate transformations; cost maps; map building; mobile robot navigation; outdoor real-time robotics platform; stereo depth maps; unknown outdoor course; vision-based mapping system; Cameras; Computational geometry; Global Positioning System; Hardware; Linux; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Switches;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2006.1638021
