NDLI: Learning integrated perception-based speed control

Content Provider	IEEE Xplore Digital Library
Author	Leang, P. Bhanu, B.
Copyright Year	2004
Description	Author affiliation: California Univ., Riverside, CA, USA (Leang, P.; Bhanu, B.)
Abstract	Advances in the area of autonomous mobile robotics have allowed robots to explore vast and often unknown terrains. This paper presents a particular form of autonomy that allows a robot to autonomously control its speed, based on perception, while traveling on unknown terrain. The robot is equipped with an onboard camera and a 3-axis accelerometer. The method begins by classifying a query image of the terrain immediately before the robot. Classification is based on the Gabor wavelet features. In learning the speed, a genetic algorithm is used to map the Gabor texture features to approximate speed that minimizes changes in accelerations along the three axes from their nominal values. Learning is performed continuously. Experiments are done in real time.
Starting Page	813
Ending Page	816
File Size	325355
Page Count	4
File Format	PDF
ISBN	0769521282
ISSN	10514651
DOI	10.1109/ICPR.2004.1334342
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-26
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Velocity control Mobile robots Navigation Acceleration Mars Pulse width modulation Robot control Robot vision systems Cameras Accelerometers
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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