By Topic

Vision-guided mobile robot navigation using retroactive updating of position uncertainty

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)
Kosaka, A. ; Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA ; Meng, M. ; Kak, A.C.

The authors describe a vision-guided mobile robot navigation that allows a mobile robot to navigate indoors at speeds of approximately 10 m/min in the presence of obstacles. This system uses empirically constructed models of the dependence of robot-motion-uncertainties on commanded motions for vision-based self-location and for the planning of future motions toward the goal. The vision processes are model-based and use a Kalman filter to reduce the uncertainties in the position of the robot as the landmarks in the scene are matched with features extracted from the images. Position updating using vision is retroactive in the sense that the robot does not wait for the results of vision processing to become available. When the vision results do become available, the robot then retroactively updates the positional uncertainties. In addition to this retroactive updating feature, another major difference between the FINALE system of Kosaka and Kak (1992) and the work reported here is that now the authors are able to execute multiple tasks concurrently

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993