By Topic

Stereo vision and navigation in buildings for mobile robots

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
$33 $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)
Kriegman, D. ; Dept. of Comput. Sci., Stanford Univ., CA, USA ; Triendl, E. ; Binford, T.O.

A mobile robot that autonomously functions in a complex and previously unknown indoor environment has been developed. The omnidirectional mobile robot uses stereo vision, odometry, and contact bumpers to instantiate a symbolic world model. Finding stereo correspondences across a single epipolar line is adequate for instantiating the model. Uncertainty in sensor data is represented by a multivariate normal distribution, and uncertainty models for motion and stereo are presented. Uncertainty is reduced by extended Kalman filtering. To execute a high-level command such as `Enter the second door on the left', a model is instantiated from sensing and motions are planned and executed. Experimental results from the fast, running system are presented

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 6 )