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Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing

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3 Author(s)
Ohya, A. ; Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan ; Kosaka, A. ; Kak, A.

This paper describes a vision-based navigation method in an indoor environment for an autonomous mobile robot which can avoid obstacles. In this method, the self-localization of the robot is achieved by a model-based vision system, and nonstop navigation is realized by a retroactive position correction system. Stationary obstacles are avoided with single-camera vision and moving obstacles are detected with ultrasonic sensors. We report on experiments in a hallway using the YAMABICO robot

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Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 6 )