Robot navigation behaviors based on omnidirectional vision and information theory

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dc.contributorRobot Vision Groupen
dc.contributor.authorBonev, Boyan-
dc.contributor.authorCazorla, Miguel-
dc.contributor.authorEscolano, Francisco-
dc.contributor.otherUniversidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificialen
dc.identifier.citationBONEV, 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. 27-35en
dc.description.abstractIn 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.en
dc.description.sponsorshipThis research is funded by the project DPI2005-01280 from the Spanish Government and the project GV06/134 from Generalitat Valenciana (Spain).en
dc.publisherRed de Agentes Físicosen
dc.subjectOmnidirectional visionen
dc.subjectAutonomous robot navigationen
dc.subject.otherCiencia de la Computación e Inteligencia Artificialen
dc.titleRobot navigation behaviors based on omnidirectional vision and information theoryen
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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