Kosaka, A. and Pan, J. (1995). Purdue Experiments in Model-based Vision for Hallway Navigation. In Proc. of Workshop on Vision for Robots, IROS-95, pages 87--96, Pittsburg, PA.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....vision tool can be used for the task of dimensional measure ments of parts. Using position predefined landmarks usually performs navigating mobile robots in indoor environments. Autonomous robots hold a geometric map of the environment and use landmarks, such as walls or pillars, for navigation [8 11]. The robot assumes a rough position and matches the landmarks of its map to those detected by the vision system. The main problems are the difficulties due to changes and or clutter of the background and the high computational demands. For example, a space application where the background is dark ....

A. Kosaka, J. Pan, Purdue experiments in model-based vision for hallway navigation, Proceedings of Workshop on Vision for Robots in IROS'95, 1995, pp. 87-96.

....environment. Techniques for mobile robot navigation based on landmarks include those that are primarily reactive [3] those planned within a geometric environment map enhanced with perceptual landmarks [5, 7] and those based on a topological description of landmark locations without a global map [4, 8, 11]. Our landmarks are designed for a navigation system in which a topological map of landmark locations is constructed through exploration of the environment and then used for navigation without relying on a global geometric map. Sensors are used for landmark detection and local obstacle avoidance. ....

A. Kosaka and J. Pan. Purdue experiments in modelbased vision for hallway navigation. In Proceedings of the Workshop on Vision for Robots in IROS'95, Pittsburgh, PA, pages 87--96, 1995.

....objects, i.e. objects consisting of multiple rigid components connected by joints, is shown briefly in Sec. 3. Related work to the recognition task can be found in [IK88] Gri90] DPR92] and [Pop94] The problem of the self localization of an AMS is considered in [FHR 90] CK94] and [KP95] Common to both tasks are the use of a geometric model and the basic localization procedure, i.e. the determination of the 6 DOF pose of the AMS relative to the world or to an object, respectively. 2 System Architecture The presented object recognition system (see Fig. 1 (a) is implemented ....

A. Kosaka and J. Pan. Purdue Experiments in Model-Based Vision for Hallway Navigation. In Workshop on Vision for Robots in IROS'95, pages 87--96. IEEE Press, 1995.

....model. Techniques for mobile robot navigation based on landmarks include those that are primarily reactive [9] those planned within a geometric environment map enhanced with perceptual landmarks [15, 10] and those based on a topological description of landmark locations without a global map [16, 11, 12]. Our landmarks are designed for a navigation system in which a topological map of landmark locations is first constructed during an exploratory phase and then used for navigation without relying on a global geometric map. Sensors are used for landmark detection and local obstacle avoidance. In ....

A. Kosaka and J. Pan, "Purdue experiments in model-based vision for hallway navigation ", in Proceedings of the Workshop on Vision for Robots in IROS'95, Pittsburgh, PA, 1995, pp. 87--96.

....model. Techniques for mobile robot navigation based on landmarks include those that are primarily reactive [6] those planned within a geometric environment map enhanced with perceptual landmarks [9, 13] and those based on a topological description of landmark locations without a global map [8, 14, 16]. Our landmarks are designed for a navigation system in which a topological map of landmark locations is first constructed during an exploratory phase and then used for navigation without relying on a global geometric map. Sensors are used for landmark detection and local obstacle avoidance. In ....

A. Kosaka and J. Pan. Purdue experiments in modelbased vision for hallway navigation. In Proceedings of the Workshop on Vision for Robots in IROS'95, Pittsburgh, PA, pages 87--96, 1995.

....pattern. Techniques for mobile robot navigation based on landmarks include those that are primarily reactive [5] those planned within a geometric environment map enhanced with perceptual landmarks [8, 12] and those based on a topological description of landmark locations without a global map [7, 13, 15]. Our landmarks are designed for a navigation system in which a topological map of landmark locations is first constructed during an exploratory phase and then used for navigation without relying on a global geometric map. Sensors are used for landmark detection and local obstacle avoidance. In ....

A. Kosaka and J. Pan. Purdue experiments in model-based vision for hallway navigation. In Proceedings of the Workshop on Vision for Robots in IROS'95, Pittsburgh, PA, pages 87--96, 1995.

....model. Techniques for mobile robot navigation based on landmarks include those that are primarily reactive [5] those planned within a geometric environment map enhanced with perceptual landmarks [9, 11] and those based on a topological description of landmark locations without a global map [8, 13, 17]. Our navigation system uses artificial landmarks placed throughout the environment as visual cues. A topological map of current landmark locations is first constructed during an exploratory phase and then used for navigation without requiring a global geometric map. To compensate for occlusion ....

A. Kosaka and J. Pan. Purdue experiments in modelbased vision for hallway navigation. In Proceedings of the Workshop on Vision for Robots in IROS'95, Pittsburgh, PA, pages 87--96, 1995.

....or qualitative navigation. Results are described in the paper. 1. Introduction In recent years visually guided navigation [19] has been approached in many different ways. Map building using image sequences from standard single or stereo cameras has been explored in [2, 20] Kosaka and Kak [18] combined model based reasoning and Kalman filtering, which requires a 3D geometric model of the environment. In [17] sonar data is collected along corridors and used together with visual data (simply vertical edges) to aid navigation. Although previous research produced many interesting results, ....

A. Kosaka and J. Pan. Purdue experiments in model-based vision for hallway navigation. In Workshop on Vision for Robots at IROS'95, Pittsburgh, PA, USA, 1995.

.... 1996] There have been many other proposals for hierarchical architectures that try to bridge the gap between planning and reactivity [Collins et al. 1993] Cattoni et al. 1994] and hybrid ones that combine logics based representations with neural models [Morasso et al. 1993] or fuzzy logic [Kosaka and Pan, 1995]. A natural question is why do all these architectures, which were designed independently, end up having a similar structure. Gat [1998] after giving a detailed review of architectures for mobile robots and their evolution over the last decade, argues that this similarity has to do with the role ....

Akio Kosaka and Juiyao Pan, "Purdue Experiments in Model-Based Vision for Hallway Navigation," In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95), volume 1, pages 87--96, Pittsburgh, PA, 1995.

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Kosaka, A. and Pan, J. (1995). Purdue Experiments in Model-based Vision for Hallway Navigation. In Proc. of Workshop on Vision for Robots, IROS-95, pages 87--96, Pittsburg, PA.

No context found.

Akio Kosaka, and Juiyao Pan, Purdue Experiments in Model-Based Vision for Hallway Navigation, Proceedings of Workshop on Vision for Robots Conference (IROS'95), pp 87-96., 1995.

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