NDLI: Utilizing human vision and computer vision to direct a robot in a semi-structured environment via task-level commands

Content Provider	IEEE Xplore Digital Library
Author	Miles, E.S. Cannon Jr., R.H.
Copyright Year	1995
Description	Author affiliation: Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA (Miles, E.S.; Cannon, R.H., Jr.)
Abstract	A novel approach to directing a highly autonomous robot operating in a semi-structured environment is presented. In this approach, the human operator assists the robot in perceiving unexpected situations in the environment through simple point-and-click type interaction with a live video display from cameras on-board the robot. As a result of this high-level guidance, the robot is now able to invoke a variety of computer vision algorithms to augment the world model accordingly. This novel approach utilizes the complimentary vision capabilities of both the human and computer to extend the capability of the human/robot team to overcome the challenges of semi-structured environments without sacrificing the high-degree of autonomy and resilience to time delay of the task-level command architecture. Preliminary experimental results with a laboratory robot are presented.
Starting Page	366
Ending Page	371
File Size	1096164
Page Count	6
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525822
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Computer vision Robot vision systems Orbital robotics Intelligent robots Robot control Computer architecture Computer displays Cameras Delay effects
Content Type	Text
Resource Type	Article

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