Visual Techniques for the Controlled Movement of Docking

  • Robin R. Murphy
Conference paper
Part of the NATO ASI Series book series (volume 83)

Abstract

This paper discusses ongoing research in developing vision strategies for the docking behavior of an autonomous mobile robot, concentrating on the needs of the controlled movement of docking in a manufacturing environment. In the controlled movement, a perceptual strategy must provide feedback to the motor behavior in order to make accurate corrections to the mobile robot’s approach trajectory. Two novel techniques have been developed: adaptive tracking of an artificial landmark through a sequence of images, and the use of texture to recover relative depth and orientation. Experimental results are presented. These techniques, in conjunction with an inverse perspective transform technique for the coarse recovery of depth and orientation, form the basis of the perceptual strategy for the controlled movement.

Keywords

Retina Beach Expense Arena Dock 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1992

Authors and Affiliations

  • Robin R. Murphy
    • 1
  1. 1.School of Information and Computer ScienceGeorgia Institute of TechnologyAtlantaUSA

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