A vision-based pragmatic strategy for autonomous navigation

被引：5
|
作者：
Kundur, SR [1 ]
Raviv, D
机构：
[1] Florida Atlantic Univ, Robot Ctr, Boca Raton, FL 33431 USA
[2] Florida Atlantic Univ, Dept Elect Engn, Boca Raton, FL 33431 USA
[3] Natl Inst Stand & Technol, Intelligent Syst Div, Gaithersburg, MD 20899 USA
来源：
PATTERN RECOGNITION | 1998年 / 31卷 / 09期
基金：
美国国家科学基金会;
关键词：
active vision; dynamic vision; visual navigation; collision avoidance;
D O I：
10.1016/S0031-3203(97)00151-9
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a novel approach based on active-vision paradigm, for generating local collision-free paths for mobile robot navigation, in indoor as well as outdoor environments. Two measurable visual motion cues that provide some measure for a relative change in range as well clearance between a 3D surface and a visually fixating observer in motion are described. The visual fields associated with the cues can be used to demarcate regions around a moving observer into safe and danger zones of varying degree, which is suitable for making local decisions about the steering as well as speed commands to the vehicle. (C) 1998 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：1221 / 1239
页数：19
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