Related Systems and Ideas
Robot navigation has traditionally focussed on the problems of efficient, smooth, and effective motion in avoiding obstacles, and moving to a goal point. Frequently, perception is treated as something of a burden. Systems in the literature require some environmental information, and the perception used in those systems gives some noisy data about the environment. Many systems use active sensors such as laser range finders, which recover accurate structural data about the robot’s surrounds. Such systems are efficacious on tasks that only require structural data, but are unable to handle situations that also require other data. This chapter is concerned specifically with vision-guided mobile robot navigation. Firstly, it presents some basic vision concepts and techniques to facilitate discussion of vision-guidance for mobile robots. Secondly, it presents basic concepts in robot navigation, and particularly vision-guided robot navigation, before describing some of the most effective for vision-guided robot navigation systems. Finally, this book is concerned with the application of high-level computer vision to robot navigation. Hence, the areas of computer vision that are relevant to this book are reviewed.
KeywordsMobile Robot Object Recognition Optical Flow Ground Plane Robot Navigation
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