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A VISION-BASED PRAGMATIC STRATEGY FOR AUTONOMOUS NAVIGATION

✍ Scribed by SRIDHAR R. KUNDUR; DANIEL RAVIV

Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
868 KB
Volume
31
Category
Article
ISSN
0031-3203

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✦ Synopsis

This paper presents a novel approach based on active-vision paradigm, for generating local collision-free paths for mobile robot navigation, in indoor as well as outdoor environments. Two measurable visual motion cues that provide some measure for a relative change in range as well clearance between a 3D surface and a visually fixating observer in motion are described. The visual fields associated with the cues can be used to demarcate regions around a moving observer into safe and danger zones of varying degree, which is suitable for making local decisions about the steering as well as speed commands to the vehicle.

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