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Perception for Mobile Agents

Perception for Mobile Agents 104 Dudek, Jenkin and Milios real environments such as railway stations and conven- Murray and Little use trinocular stereo and an occu- tion centers. pancy grid representation of the world for exploration Branca, Stella and Distante present a new algorithm and mapping. This is a practical system that works in for detecting planar surfaces in the scene by a mo- spite of the occasional stereo matching errors, by using bile agent, without deriving depth estimates, but by ex- a special technique for removing spikes due to feature ploiting a projective invariance associated with feature mismatches. points that are tracked through images. The method is Bourque and Dudek consider the task of construct- shown to converge fast, and its effectiveness has been ing image-based maps of an unknown environment. demonstrated on real data. Using a mobile robot, they construct a map based on a Li, Ochi, Yagi and Yachida use a panoramic repre- connected set of panoramic images. sentation of route scenes recorded by a mobile agent Tremblay and Ferrie address the model-data asso- in a large scale environment. Matching using dynamic ciation problem in the case of dynamic modelling of programming is used to recognize the same scene and http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Perception for Mobile Agents

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Publisher
Springer Journals
Copyright
Copyright © 2000 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1008943814150
Publisher site
See Article on Publisher Site

Abstract

104 Dudek, Jenkin and Milios real environments such as railway stations and conven- Murray and Little use trinocular stereo and an occu- tion centers. pancy grid representation of the world for exploration Branca, Stella and Distante present a new algorithm and mapping. This is a practical system that works in for detecting planar surfaces in the scene by a mo- spite of the occasional stereo matching errors, by using bile agent, without deriving depth estimates, but by ex- a special technique for removing spikes due to feature ploiting a projective invariance associated with feature mismatches. points that are tracked through images. The method is Bourque and Dudek consider the task of construct- shown to converge fast, and its effectiveness has been ing image-based maps of an unknown environment. demonstrated on real data. Using a mobile robot, they construct a map based on a Li, Ochi, Yagi and Yachida use a panoramic repre- connected set of panoramic images. sentation of route scenes recorded by a mobile agent Tremblay and Ferrie address the model-data asso- in a large scale environment. Matching using dynamic ciation problem in the case of dynamic modelling of programming is used to recognize the same scene and

Journal

Autonomous Robots – Springer Journals

Published: Oct 3, 2004

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