Vision-based Pirouettes using the Radial Obstacle Profile

Taylor, Trevor, Geva, Shlomo, & Boles, Wageeh W. (2004) Vision-based Pirouettes using the Radial Obstacle Profile. In 2004 IEEE Conference on Robotics, Automation and Mechatronics, 1st to 3rd December, 2004, Singapore.

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Abstract

Mapping algorithms commonly use "radial sweeps" of the surrounding environment as input. Producing a sweep is a challenging task for a robot using only vision.
With no odometers to measure turn angles, a vision-based robot must have another method to verify rotations. In this paper we propose using the Radial Obstacle Profile (ROP) which gives the radial distance to the nearest obstacle in any direction in the robot’s field of view. By matching the ROPs before and after a turn, the robot should be able to verify that the expected angle of rotation matches the actual angle. Combining successive ROPs then produces a radial sweep.

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ID Code:	625
Item Type:	Conference Paper
Additional URLs:	http://ieeexplore.ieee.org/servlet/opac?punumber=9824
Keywords:	computer and robot vision, wheeled mobile robots, mapping, radial obstacle profile
ISBN:	0780386450
Subjects:	Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104) Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions:	Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner:	Copyright 2004 IEEE
Copyright Statement:	Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On:	20 Dec 2004
Last Modified:	29 Feb 2012 23:05

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