Vision guided circumnavigating autonomous robots
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.
KeywordsMobile Robot Autonomous Robot Robot Navigation Autonomous Mobile Robot Mobile Robot Navigation
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