Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment

Title: en_US Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment
Creator: en_US Sarachik, Karen Beth
Date: 2004-10-20T20:00:26Z
Date Available: 2004-10-20T20:00:26Z
Date Issued: en_US 1989-03-01
Identifier: en_US AITR-1113
uri: http://hdl.handle.net/1721.1/6829
Abstract: en_US The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room it is inspecting, such as moving objects. Forward and rotational motion vision are used to find doors and rooms, and these can be used to build topological maps. The map is built without the use of odometry or trajectory integration. The long term goal of the project described here is for the robot to build simple maps of its environment and to localize itself within this framework.
Extent: en_US 91 p.; 7151707 bytes; 5027637 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1113
Subject: en_US map making; en_US mobile robot; en_US motion vision; en_US robot navigation; en_US sstereo vision