Vision guided circumnavigating autonomous robots

  • Nick Barnes
  • Zhi-Qiang Liu
Session IA1a — Robot Navigation & Tracking
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1024)


In this paper, we propose a system for vision guided autonomous circumnavigation, allowing robots to navigate around objects of arbitrary pose. The system performs knowledge-based object recognition from an intensity image using a canonical viewer-centred model. A path planned from a geometric model then guides the robot in circum-navigating the object. This system can be used in many applications where robots have to recognize and manipulate objects of unknown pose and placement. Such applications occur in a variety of contexts such as factory automation, underwater and space exploration, and nuclear power station maintenance. We also define a canonical-view graph to model objects, which is a viewer-centred representation.


Mobile Robot Autonomous Robot Robot Navigation Autonomous Mobile Robot Mobile Robot Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Nick Barnes
    • 1
  • Zhi-Qiang Liu
    • 1
  1. 1.Computer Vision and Machine Intelligence Lab, Department of Computer ScienceThe University of MelbourneParkvilleAustralia

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