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Proceedings Paper

Model building and autonomous exploration
Author(s): Peter Whaite; Frank P. Ferrie
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Paper Abstract

We define autonomous exploration as a process by which an active observer can interact with its surroundings, e.g., by intentionally moving around and collecting information, in order to learn about its environment. Such an ability is essential for autonomous systems that must operate in unstructured environments, i.e., where it is difficult (if not impossible) to characterize the environment beforehand. This paper describes a working system that implements an autonomous explorer whose function is to describe the environment in terms of articulated volumetric models. A novel feature of the system is that it uses feedback to reduce reliance on a priori knowledge.

Paper Details

Date Published: 6 August 1993
PDF: 13 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150187
Show Author Affiliations
Peter Whaite, McGill Univ. (Canada)
Frank P. Ferrie, McGill Univ. (Canada)

Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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