Computer vision for CARMEL

Marcus J. Huber; Clint R. Bidlack; David Kortenkamp; Kevin Mangis; Douglas Baker; Annie S. Wu; Terry E. Weymouth

doi:10.1117/12.143835

4 May 1993 Computer vision for CARMEL

Marcus J. Huber, Clint R. Bidlack, David Kortenkamp, Kevin Mangis, Douglas Baker, Annie S. Wu, Terry E. Weymouth

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143835
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

In this paper we discuss the implementation and uses of the object recognition system used for CARMEL, the University of Michigan's winning entry in the AAAI-92 Autonomous Robot Competition. Following the rules of the competition, the robot was required to navigate within a large, unstructured environment performing exploration, and then a directed search, for objects placed throughout the arena. CARMEL was completely autonomous and performed these tasks, in part, using computer vision techniques. The tasks required of the computer vision system consisted of actively searching for objects (four inch diameter tubes marked with black and white stripe patterns), detecting them in images, uniquely identifying each object based upon its distinguishing pattern, and determining each object's position from orientation and distance estimates measured from the image. We briefly describe the design of the various computer vision algorithms that were developed to perform these tasks. Because of the accuracy and robustness of the vision system, we were able to perform absolute positioning, where the robot accurately updated its position through backward triangulation from previously located objects. The success of CARMEL stemmed largely from the use and implementation of the vision system to perform the tasks listed above. Other teams chose to approach these same tasks using different sensory systems and/or techniques. We analyze the general approaches, looking at where they excelled and failed, in terms of their actual performance and in general, perhaps giving insight into how to build autonomous robots that can successfully operate in 'natural' environments.

Citation Download Citation

Marcus J. Huber, Clint R. Bidlack, David Kortenkamp, Kevin Mangis, Douglas Baker, Annie S. Wu, and Terry E. Weymouth "Computer vision for CARMEL", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143835

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available