NDLI: Computer vision algorithms for autonomous mobile robot map building and path planning

Content Provider	IEEE Xplore Digital Library
Author	Meikle, S. Yates, R. Harris, A.
Copyright Year	1998
Description	Author affiliation: Dept. of Electron. & Electr. Eng., Sheffield Univ., UK (Meikle, S.)
Abstract	Describes an algorithm for autonomous mobile robot map building and path planning in an unknown environment. One potential application is that of the AMR transporting an individual in response to a verbal command. i.e. an intelligent wheelchair. The sensor system used by the robot is stereo vision. We use a view-based, probabilistic approach, whereby the AMR learns its environment as a series of visually different locations. The algorithm is particularly robust, and notably the robustness does not vary with the size of the learnt environment. This enables large environments to be learnt reliably. This was previously an unsolved problem. The algorithm enables the AMR to learn an unknown environment without the need for internal distance measurements (odometry), using feature observations only. The algorithm allows an AMR to learn a new environment with a single passing and once the environment has been mapped, its topology can be inferred from the stored map. Hence all possible paths through that environment are navigable, even paths previously untraversed. Furthermore, using a limited amount of real-world distance information, derived from stereo cameras, the robot is able to construct a robust internal representation of its position with respect to visible features, and thus perform accurate intra-region localisation.
Starting Page	99
Ending Page	104
File Size	704369
Page Count	6
File Format	PDF
ISBN	0780342690
DOI	10.1109/ITSC.1997.660458
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-11-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Mobile robots Robustness Robot vision systems Stereo vision Path planning Application software Intelligent robots Intelligent sensors Wheelchairs
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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