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Proceedings Paper

Exploiting known topologies to navigate with low-computation sensing
Author(s): David P. Miller; Erann Gat
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Paper Abstract

Exploiting prior knowledge about the general characteristics of an environment can reduce the amount of sensing required. For example, in an indoor environment floors tend to be flat and walls tend to be straight and static. In such an environment, simple range sensors can provide enough information to support robust sensor-driven goal-directed navigation. This paper will describe a navigation experiment using a real robot, and speculate on how the techniques used can be extended to other domains.

Paper Details

Date Published: 1 April 1991
PDF: 11 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25278
Show Author Affiliations
David P. Miller, Jet Propulsion Lab. (United States)
Erann Gat, Jet Propulsion Lab. (United States)

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

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