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Proceedings Paper

Model-Based Visual Navigation System For A Mobile Robot
Author(s): Juha Roning; Matti Pietikainen; Mikko Lindholm; Tapio Taipale
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Paper Abstract

A model-based visual navigation system developed at the University of Oulu is described. The system consists of a hierarchy of processing levels where low level stages are data driven and the highest stage is model driven. With passive three-camera stereovision a sparse depth map of the scene is produced. Descriptions of important local scene structures are extracted using the properties of edge segments and relations between neighboring segments. The nature of the environment and world constraints are exploited to support extraction of the description. Prior knowledge of the world is used for global path finding, aiding scene analysis and providing feedback information to close the control loop between planned and actual movements.

Paper Details

Date Published: 10 March 1989
PDF: 9 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949100
Show Author Affiliations
Juha Roning, University of Oulu (Finland)
Matti Pietikainen, University of Oulu (Finland)
Mikko Lindholm, University of Oulu (Finland)
Tapio Taipale, University of Oulu (Finland)

Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

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