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Proceedings Paper

Workstation recognition using a constrained edge-based Hough transform for mobile robot navigation
Author(s): David L. Vaughn; Ronald C. Arkin
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Paper Abstract

Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This algorithm deals with the uncertainty inherent in a mobile robot by making use of a spatial uncertainty map maintained by the robot. Several iterations of the Hough transform are run with transformed models of the dock. Votes are accumulated in a collapsed Hough space which, although unable to recover range and orientation information, simplifies locating the dock within the image.

Paper Details

Date Published: 1 April 1991
PDF: 12 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25290
Show Author Affiliations
David L. Vaughn, Georgia Institute of Technology (United States)
Ronald C. Arkin, Georgia Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

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