Paper
14 February 1992 Building representations for the environment of a mobile robot from image data
Camillo J. Taylor
Author Affiliations +
Proceedings Volume 1613, Mobile Robots VI; (1992) https://doi.org/10.1117/12.135186
Event: Robotics '91, 1991, Boston, MA, United States
Abstract
This paper presents an alternative approach to building representations for the environment of a mobile robot. This approach is based on recording the geometrical relationships between the observed features rather than their absolute position with respect to an arbitrary coordinate frame of reference. The resulting representation takes the form of a graph where the nodes represent the observed features and the edges represent the relationships between the features. This representation is particularly well suited for recognition tasks which can be reformulated as graph matching problems. Unlike Cartesian maps, relational maps can be built and maintained without any estimates for the position of the robot which means that the errors in this representation will be independent of any errors in the estimates for the robot position.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Camillo J. Taylor "Building representations for the environment of a mobile robot from image data", Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); https://doi.org/10.1117/12.135186
Lens.org Logo
CITATIONS
Cited by 5 scholarly publications.
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Mobile robots

Error analysis

Cameras

Filtering (signal processing)

Detection and tracking algorithms

Sensors

Computed tomography

Back to Top