NDLI: Provable strategies for vision-guided exploration in three dimensions

Content Provider	IEEE Xplore Digital Library
Author	Kutulakos, K.N. Dyer, C.R. Lumelsky, V.J.
Copyright Year	1994
Description	Author affiliation: Dept. of Comput. Sci., Wisconsin Univ., Madison, WI, USA (Kutulakos, K.N.; Dyer, C.R.; Lumelsky, V.J.)
Abstract	An approach is presented for exploring an unknown, arbitrary surface in three-dimensional (3D) space by a mobile robot. The main contributions are (1) an analysis of the capabilities a robot must possess and the trade-offs involved in the design of an exploration strategy, and (2) two provably-correct exploration strategies that exploit these trade-offs and use visual sensors (e.g., cameras and range sensors) to plan the robot's motion. No such analysis existed previously for the case of a robot moving freely in 3D space. The approach exploits the notion of the occlusion boundary, i.e., the points separating the visible from the occluded parts of an object. The occlusion boundary is a collection of curves that "slide" over the surface when the robot's position is continuously controlled, inducing the visibility of surface points over which they slide. The paths generated by our strategies force the occlusion boundary to slide over the entire surface. The strategies provide a basis for integrating motion planning and visual sensing under a common computational framework.
Starting Page	1365
Ending Page	1372
File Size	806632
Page Count	8
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351298
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Motion planning Orbital robotics Path planning Robot vision systems Cameras Strategic planning Mobile robots Motion analysis Shape
Content Type	Text
Resource Type	Article

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
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