Robot navigation behaviors based on omnidirectional vision and information theory
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http://hdl.handle.net/10045/12599
Título: | Robot navigation behaviors based on omnidirectional vision and information theory |
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Autor/es: | Bonev, Boyan | Cazorla, Miguel | Escolano, Francisco |
Grupo/s de investigación o GITE: | Robot Vision Group |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial |
Palabras clave: | Omnidirectional vision | Autonomous robot navigation | Entropy |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial |
Fecha de publicación: | sep-2007 |
Editor: | Red de Agentes Físicos |
Cita bibliográfica: | 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 |
Resumen: | 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. |
Patrocinador/es: | This research is funded by the project DPI2005-01280 from the Spanish Government and the project GV06/134 from Generalitat Valenciana (Spain). |
URI: | http://hdl.handle.net/10045/12599 | http://dx.doi.org/10.14198/JoPha.2007.1.1.04 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2007.1.1.04 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Aparece en las colecciones: | Journal of Physical Agents - 2007, Vol. 1, No. 1 INV - RVG - Artículos de Revistas INV - RoViT - Artículos de Revistas INV - MVRLab - Artículos de Revistas |
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