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Image-based homing

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5 Author(s)
J. Hong ; Courant Inst., New York Univ., NY, USA ; X. Tan ; B. Pinette ; R. Weiss
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A system that allows a robot to acquire a model of its environment and to use this model to navigate is described. The system maps the environment as a set of snapshots of the world taken at target locations. The robot uses an image-based local homing algorithm to navigate between neighboring target locations. Features of the approach include an imaging system that acquires a compact, 360° representation of the environment and an image-based, qualitative homing algorithm that allows the robot to navigate without explicitly inferring three-dimensional structure from the image. The results of an experiment in a typical indoor environment are described, and its argued that image-based navigation is a feasible alternative to approaches using three-dimensional models

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991