Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment
The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room it is inspecting, such as moving objects. Forward and rotational motion visio...
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| Language: | en_US |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/6829 |
| _version_ | 1826200781381959680 |
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| author | Sarachik, Karen Beth |
| author_facet | Sarachik, Karen Beth |
| author_sort | Sarachik, Karen Beth |
| collection | MIT |
| description | The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room it is inspecting, such as moving objects. Forward and rotational motion vision are used to find doors and rooms, and these can be used to build topological maps. The map is built without the use of odometry or trajectory integration. The long term goal of the project described here is for the robot to build simple maps of its environment and to localize itself within this framework. |
| first_indexed | 2024-09-23T11:41:39Z |
| id | mit-1721.1/6829 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:41:39Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/68292019-04-10T14:25:03Z Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment Sarachik, Karen Beth map making mobile robot motion vision robot navigation sstereo vision The goal of this work is to navigate through an office environmentsusing only visual information gathered from four cameras placed onboard a mobile robot. The method is insensitive to physical changes within the room it is inspecting, such as moving objects. Forward and rotational motion vision are used to find doors and rooms, and these can be used to build topological maps. The map is built without the use of odometry or trajectory integration. The long term goal of the project described here is for the robot to build simple maps of its environment and to localize itself within this framework. 2004-10-20T20:00:26Z 2004-10-20T20:00:26Z 1989-03-01 AITR-1113 http://hdl.handle.net/1721.1/6829 en_US AITR-1113 91 p. 7151707 bytes 5027637 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | map making mobile robot motion vision robot navigation sstereo vision Sarachik, Karen Beth Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment |
| title | Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment |
| title_full | Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment |
| title_fullStr | Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment |
| title_full_unstemmed | Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment |
| title_short | Visual Navigation: Constructing and Utilizing Simple Maps of an Indoor Environment |
| title_sort | visual navigation constructing and utilizing simple maps of an indoor environment |
| topic | map making mobile robot motion vision robot navigation sstereo vision |
| url | http://hdl.handle.net/1721.1/6829 |
| work_keys_str_mv | AT sarachikkarenbeth visualnavigationconstructingandutilizingsimplemapsofanindoorenvironment |