TY - GEN
T1 - Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme
AU - Tang, L.
AU - Yuta, S.
PY - 2001/9/15
Y1 - 2001/9/15
N2 - This paper presents a vision based autonomous navigation system for mobile robots in an indoor environment by teaching and playing-back scheme. The system uses an omnidirectional image sensor to perceive the environment, and extracts vertical edges as feature lines. The system memorizes a sequence of environmental images and robot's poses during teaching stage. In the course of play- back navigation, the system calculates the robot's position difference from the memorized and currently taken images, and then decides the trajectory to track the taught route. The detail algorithm and the effectiveness of this method with experiments are shown in this paper.
AB - This paper presents a vision based autonomous navigation system for mobile robots in an indoor environment by teaching and playing-back scheme. The system uses an omnidirectional image sensor to perceive the environment, and extracts vertical edges as feature lines. The system memorizes a sequence of environmental images and robot's poses during teaching stage. In the course of play- back navigation, the system calculates the robot's position difference from the memorized and currently taken images, and then decides the trajectory to track the taught route. The detail algorithm and the effectiveness of this method with experiments are shown in this paper.
UR - http://www.scopus.com/inward/record.url?scp=0034873970&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0034873970&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2001.933089
DO - 10.1109/ROBOT.2001.933089
M3 - Conference contribution
AN - SCOPUS:0034873970
SN - 0780365763
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3072
EP - 3077
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2001 IEEE International Conference on Robotics and Automation
Y2 - 21 May 2001 through 26 May 2001
ER -