NDLI: Robot navigation without calibration

Content Provider	IEEE Xplore Digital Library
Author	Graefe, V. Bischoff, R.
Copyright Year	2004
Description	Author affiliation: Intelligent Robots Lab., Bundeswehr Univ., Neubiberg, Germany (Graefe, V.; Bischoff, R.)
Abstract	Robots that never need any calibration of their kinematics, their actuators or their sensors promise great advantages in terms of maintenance cost, robustness and adaptability. Here we propose an approach for calibration-free vision based navigation in networks of corridors. The underlying concepts are based on the utilization of laws of projective geometry that always apply, regardless of camera characteristics, and in some cases on learning by doing. Our approach is based on a vehicle-mounted camera looking into an approximately forward direction as the main sensor and a qualitative knowledge of the appearance of objects of interest, such as floors and walls of corridors. The skills developed on the basis of the approach were intensively tested and have proved their effectiveness, adaptability and robustness under real-world conditions in two different office environments and with two robots, a humanoid personal robotic assistant, HERMES and a transportation robot, ATHENE II.
Starting Page	3779
Ending Page	3784
File Size	497311
Page Count	6
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1390003
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Calibration Robot sensing systems Humanoid robots Sensor phenomena and characterization Robustness Cameras Kinematics Actuators Costs
Content Type	Text
Resource Type	Article

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