Iconic memory-based omnidirectional route panorama navigation.
A route navigation method for a mobile robot with an omnidirectional image sensor is described. The route is memorized from a series of consecutive omnidirectional images of the horizon when the robot moves to its goal. While the robot is navigating to the goal point, input is matched against the memorized spatio-temporal route pattern by using dual active contour models and the exact robot position and orientation is estimated from the converged shape of the active contour models.
Yagi
Yasushi
Y
The Institute of Scientific and Industrial Research, Osaka University, 8-1 Mihogaoka, Ibaraki, Osaka, 567-0047 Japan. yagi@am.sanken.osaka-u.ac.jp
Imai
Kousuke
K
Tsuji
Kentaro
K
Yachida
Masahiko
M
D000465:Algorithms; D001185:Artificial Intelligence; D003196:Computer Graphics; D003198:Computer Simulation; D007089:Image Enhancement / Q000379:methods; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D016247:Information Storage and Retrieval / Q000379:methods; D008568:Memory; D009716:Numerical Analysis, Computer-Assisted; D009862:Online Systems; D009949:Orientation; D010363:Pattern Recognition, Automated / Q000379:methods*; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods*; D012680:Sensitivity and Specificity; D012815:Signal Processing, Computer-Assisted; D013028:Space Perception; D013382:Subtraction Technique; D014584:User-Computer Interface; D014741:Video Recording / Q000379:methods