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Natural scene understanding for mobile robot navigation

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3 Author(s)
Betge-Brezetz, S. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Chatila, R. ; Devy, M.

In this paper, we focus on some perceptual functions required by a generic task “GOTO” in natural environments; in previous works, only geometrical modeling has been used to deal with two fundamental tasks: landmark extraction and recognition for sensor-based motion control or robot localization, and terrain modeling for motion planning. Geometrical representations alone lead to a bulky model, and, after some iterations, to a combinatorial explosion. We present here, higher level representations; from a range image, given some assumptions on the perceived scene (even ground with few objects), we propose a segmentation algorithm to extract simple semantical representations for the ground and the objects; then, we can analyze the relative positions of the objects to build a topological scene description. Both models constitute the scene model, needed for further incremental environment modeling

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994