NDLI: Vision-guided mobile robot navigation using retroactive updating of position uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Kosaka, A. Meng, M. Kak, A.C.
Copyright Year	1993
Description	Author affiliation: Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA (Kosaka, A.; Meng, M.; Kak, A.C.)
Abstract	The authors describe a vision-guided mobile robot navigation that allows a mobile robot to navigate indoors at speeds of approximately 10 m/min in the presence of obstacles. This system uses empirically constructed models of the dependence of robot-motion-uncertainties on commanded motions for vision-based self-location and for the planning of future motions toward the goal. The vision processes are model-based and use a Kalman filter to reduce the uncertainties in the position of the robot as the landmarks in the scene are matched with features extracted from the images. Position updating using vision is retroactive in the sense that the robot does not wait for the results of vision processing to become available. When the vision results do become available, the robot then retroactively updates the positional uncertainties. In addition to this retroactive updating feature, another major difference between the FINALE system of Kosaka and Kak (1992) and the work reported here is that now the authors are able to execute multiple tasks concurrently.
Starting Page	1
Ending Page	7
File Size	659790
Page Count	7
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292115
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Navigation Uncertainty Robot vision systems Robot sensing systems Collision avoidance Cameras Optical filters Laboratories Land use planning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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