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Proceedings Paper

Multiple concurrent object descriptions in support of autonomous navigation
Author(s): Aaron F. Bobick; Robert C. Bolles
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Paper Abstract

A sensor system designed to support autonomous navigation should provide a stable, robust model of the environment. We propose and illustrate an approach in which multiple concurrent descriptions of objects are used to construct such a stable model. The principal idea is that several different representations are used to describe the same object in order to support different visual tasks, and to insure an appropriate match between the data, the model, and the task. The use of multiple representations to describe objects requires that the system be able to decide which descriptions of an object are valid. In our approach we use stability over time to indicate validity. To illustrate the power of this approach we have implemented a system, 'TraX', that constructs and refines models of outdoor objects detected in sequences of range data.

Paper Details

Date Published: 1 November 1992
PDF: 10 pages
Proc. SPIE 1828, Sensor Fusion V, (1 November 1992); doi: 10.1117/12.131669
Show Author Affiliations
Aaron F. Bobick, Media Lab./MIT (United States)
Robert C. Bolles, SRI International (United States)

Published in SPIE Proceedings Vol. 1828:
Sensor Fusion V
Paul S. Schenker, Editor(s)

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