A visual navigation system

Waxman, Allen M.; Moigne, Jacqueline Le; Davis, Larry S.; Liang, Eli; Siddalingaiah, T.

doi:10.1109/robot.1986.1087403

Cited by 16 publications

(5 citation statements)

References 10 publications

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“…Figure (6) [2][3][4][5][6]). In the following sub-section the visual field associated with the HVTC is described.…”

Section: Definitionmentioning

confidence: 99%

“…The problem of automating vision-based navigation is a chaUenging one and has drawn the attention of several researchers over the past few years (see for example [1][2][3][4][5][6][7][8][9][10][11][12] as time-to-contact [11], looming [9], VTC [50] carry important information about the relative proximity. These cues can be obtained without 3D scene reconstruction which is usually computationally intense.…”

Section: Other Approaches To Vision-based Navigationmentioning

confidence: 99%

“…Combining Equations (4)(5)(6) The standard deviation of the Gaussian PSF is zero when the image is in perfect focus.…”

Section: Other Approaches To Vision-based Navigationmentioning

confidence: 99%

“…Under the assumption that the changes in the image outer scale are small for any three consecutive frames of a given sequence, and combining Equations [3][4][5][6][7] the following relation between range and image inner scale can be derived (see Appendix B);…”

Section: Scale Space Images and Variations In Rangementioning

confidence: 99%

“…In this section we present an alternate practical way to extract the HVTC described in Equation (9) From Equation (7): (13) By combining Equation (4) with Equation (13) Figure (10a Figure (11)) from Brodatz's album [42]. Figure (12) shows an imaged texture (D18 from [42] [8].…”

Section: Definitionmentioning

confidence: 99%

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Scale-space-based visual-motion-cue for autonomous navigation

Kundur¹,

Raviv²

1996

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“…Figure (6) [2][3][4][5][6]). In the following sub-section the visual field associated with the HVTC is described.…”

Section: Definitionmentioning

confidence: 99%

Section: Other Approaches To Vision-based Navigationmentioning

confidence: 99%

“…Combining Equations (4)(5)(6) The standard deviation of the Gaussian PSF is zero when the image is in perfect focus.…”

Section: Other Approaches To Vision-based Navigationmentioning

confidence: 99%

Section: Scale Space Images and Variations In Rangementioning

confidence: 99%

Section: Definitionmentioning

confidence: 99%

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Scale-space-based visual-motion-cue for autonomous navigation

Kundur¹,

Raviv²

1996

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A method of landmark tracking for an autonomous vehicle

Chamnongthai

Ozawa

1992

Systems & Computers in Japan

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SUMMARYAn autonomous vehicle to carry parts, etc., in an industrial plant must run on an orbit composed of straight lines and curves, all the while determining its positions.This paper considers the case where the orbit is constructed using lan-ks which are relatively easy to recognize in deterrrrrmn g the run distance. Also, an autonomous vehicle system is developed which selects one of the landmarks to note and navigates on the orbit toward the object point.. .In the autonomous vehicle based on the image processing, if there exists an error due to the quantization of the image, the orbit may not be determined accurately. A case may also exist where the vehicle goes out of the orbit due to an external disturbance such as a slip.This paper also proposes a method which accurately determines the orbit for the vehicle and guides the run of the vehicle smoothly. In the proposed method, the range of the error in the image quantization is utilized positively and the object point is determined on the image with the accuracy of 0.5 pixel to determine the orbit on which to a p p m h the next object point.As the vehicle runs, the locus of the object point on the image is predicted based on the determined orbit; and the result is compared to the achral locus on the image. By this comparison, the orbit is corrected for each frame 45 when the vehicle goes out of the orbit. In addition, when there exists an obstacle, the method is applied to guide the run so that the vehicle avoids the obstacle. The usefulness of the method is demonstrated by the result of an experiment.

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Map building for a mobile robot from sensory data

Asada

1990

IEEE Trans. Syst., Man, Cybern.

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A visual navigation system

Cited by 16 publications

References 10 publications

Scale-space-based visual-motion-cue for autonomous navigation

Scale-space-based visual-motion-cue for autonomous navigation

A method of landmark tracking for an autonomous vehicle

Map building for a mobile robot from sensory data

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