Robot navigation behaviors based on omnidirectional vision and information theory

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Title: Robot navigation behaviors based on omnidirectional vision and information theory
Authors: Bonev, Boyan | Cazorla, Miguel | Escolano, Francisco
Research Group/s: Robot Vision Group
Center, Department or Service: Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial
Keywords: Omnidirectional vision | Autonomous robot navigation | Entropy
Knowledge Area: Ciencia de la Computación e Inteligencia Artificial
Issue Date: Sep-2007
Publisher: Red de Agentes Físicos
Citation: BONEV, Boyan; CAZORLA QUEVEDO, Miguel Ángel; ESCOLANO RUIZ, Francisco. “Robot navigation behaviors based on omnidirectional vision and information theory”. Journal of Physical Agents. Vol. 1, No. 1 (Sept. 2007). ISSN 1888-0258, pp. 27-35
Abstract: In this work we present a reactive autonomous robot navigation system based only on omnidirectional vision. It does not rely on any prior knowledge about the environment apart from assuming a structured one, like indoor corridors or outdoor avenues. The direction of the corridor is estimated from the entropy analysis of a 1-D omnidirectional image. The 2-D omnidirectional image is analyzed for obstacle avoidance and for keeping a safety distance from the borders of the corridor. Both methods are non-metric and no 3-D information is needed. The system performs well with different resolutions and the catadioptric sensor needs no calibration. We present results from indoor and outdoor experiments.
Sponsor: This research is funded by the project DPI2005-01280 from the Spanish Government and the project GV06/134 from Generalitat Valenciana (Spain).
URI: |
ISSN: 1888-0258
DOI: 10.14198/JoPha.2007.1.1.04
Language: eng
Type: info:eu-repo/semantics/article
Peer Review: si
Appears in Collections:Revistas - JoPha - 2007, Vol. 1, No. 1
INV - RVG - Artículos de Revistas
INV - RoViT - Artículos de Revistas
INV - MVRLab - Artículos de Revistas

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