System Results and Case Studies

Abstract

This chapter presents the experimental results, which consist of two parts. Firstly, the major components, the recognition and pose determination, are evaluated. ¹ The second part of this chapter presents a number of case studies showing the performance of the integrated robot circumnavigation system. The case studies demonstrate the abilities of the whole system to perform the tasks that have been described, and demonstrate the efficacy of the system components that are the subject of this book. The case studies include:

• 1. moving around the corner of an object;

• 2. distinguishing a particular object among similar objects;

• 3. docking;

• 4. object circumnavigation; and

• 5. obstacle avoidance.