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

Author(s)
Sarachik, Karen Beth
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Abstract
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.
Date issued
1989-03-01
URI
http://hdl.handle.net/1721.1/6829
Other identifiers
AITR-1113
Series/Report no.
AITR-1113
Keywords
map making, mobile robot, motion vision, robot navigation, sstereo vision

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