By Topic

Object-based modelling and localization in natural environments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Betge-Brezetz, S. ; LAAS-CNRS, Toulouse, France ; Chatila, R. ; Devy, M.

Mobile robot navigation in natural environments requires incremental scene modelling and robot self-localization. These two capacities are discussed in this paper. A scene model is built with heterogeneous representations to match the diversity of the environment. We focus on object-based representations, using coarse models (ellipsoids) or volumic primitives (superquadrics), and their topological relations. The method for extracting the models from a range image to provide geometrical and topological representations, and the matching of successive views during the robot's movement are presented. For robot localization, two procedures are proposed based on the coarse or fine models. Experimental results are given

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995