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Proceedings Paper

Model-based vision system for mobile robot position estimation
Author(s): Tiziana D'Orazio; Liborio Capozzo; Massimo Ianigro; Arcangelo Distante
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Paper Abstract

The development of an autonomous mobile robot is a central problem in artificial intelligence and robotics. A vision system can be used to recognize naturally occurring landmarks located in known positions. The problem considered here is that of finding the location and orientation of a mobile robot using a 3-D image taken by a CCD camera located on the robot. The naturally occurring landmarks that we use are the corners of the room extracted by an edge detection algorithm from a 2-D image of the indoor scene. Then, the location and orientation of the vehicle are calculated by perspective information of the landmarks in the scene of the room where the robot moves.

Paper Details

Date Published: 1 February 1994
PDF: 12 pages
Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167508
Show Author Affiliations
Tiziana D'Orazio, Istituto Elaborazione Segnali ed Immagini/CNR (Italy)
Liborio Capozzo, Istituto Elaborazione Segnali ed Immagini/CNR (Italy)
Massimo Ianigro, Istituto Elaborazione Segnali ed Immagini/CNR (Italy)
Arcangelo Distante, Istituto Elaborazione Segnali ed Immagini/CNR (Italy)


Published in SPIE Proceedings Vol. 2058:
Mobile Robots VIII
William J. Wolfe; Wendell H. Chun, Editor(s)

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