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Visual Techniques for the Controlled Movement of Docking

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Active Perception and Robot Vision

Part of the book series: NATO ASI Series ((NATO ASI F,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.

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Authors and Affiliations

  1. School of Information and Computer Science, Georgia Institute of Technology, Atlanta, GA, 30332, USA

    Robin R. Murphy

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  1. Robin R. Murphy
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Editor information

Editors and Affiliations

  1. Computer Science Department, George Mason University, 4400 University Drive, Fairfax, VA, 22030, USA

    Arun K. Sood  & Harry Wechsler  & 

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© 1992 Springer-Verlag Berlin Heidelberg

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Murphy, R.R. (1992). Visual Techniques for the Controlled Movement of Docking. In: Sood, A.K., Wechsler, H. (eds) Active Perception and Robot Vision. NATO ASI Series, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-77225-2_37

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  • DOI: https://doi.org/10.1007/978-3-642-77225-2_37

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-77227-6

  • Online ISBN: 978-3-642-77225-2

  • eBook Packages: Springer Book Archive

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