Visual Path Planning by a Mobile Robot
نویسندگان
چکیده
Stereo-vision-based mobile robots observe the i r environments and acquire 3-0 data with considerable errors 1n range. Rather than to use the conventional 2-0 maps, described with these Inaccurate data 1n the absolute coordinate system, a f lex ib le relational model of the global world can be bu i l t with local maps suited for each function of robots such as path planning or manipulation. For the path planning, a perspective representat i on of the local world, the image on which the scene Interpretation Is mapped, 1s proposed. Using world constraints and sensory Information of camera orientation, a stereo-image analyzer determines vert ical projections of edge points on the f l oo r in the image. A method for planning of promising paths to the specified goal using this representation is presented.
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