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Visually-guided robot navigation: from artificial to natural landmarks
dc.contributor.author | Celaya Llover, Enric |
dc.contributor.author | Albarral Garcia, Jose Luis |
dc.contributor.author | Jiménez Schlegl, Pablo |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2020-07-08T11:30:56Z |
dc.date.available | 2020-07-08T11:30:56Z |
dc.date.issued | 2007 |
dc.identifier.citation | Celaya, E. [et al.]. Visually-guided robot navigation: from artificial to natural landmarks. A: International Symposium on Field and Service Robotics. "Proceedings of the 6th International Conference on Field and Service Robotics 2007". 2007, p. 287-296. |
dc.identifier.uri | http://hdl.handle.net/2117/192622 |
dc.description | The final publication is available at link.springer.com |
dc.description.abstract | Landmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, we have decoupled the navigation issues from this visual bottleneck, by first using artificial landmarks that could be easily detected and identified. Once we had a navigation system working, we developed a strategy to detect and track salient regions along image streams by just performing on-line pixel sampling. This strategy continuously updates the mean and covariances of the salient regions, as well as creates, deletes and merges regions according to the sample flow. Regions detected as salient can be considered as potential landmarks to be used in the navigation task. |
dc.format.extent | 10 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.other | Automation |
dc.subject.other | Mahalanobis distance |
dc.subject.other | Salient region |
dc.subject.other | Navigation task |
dc.subject.other | Legged tobot |
dc.subject.other | Input pixel |
dc.title | Visually-guided robot navigation: from artificial to natural landmarks |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1007/978-3-540-75404-6_27 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007%2F978-3-540-75404-6_27 |
dc.rights.access | Open Access |
local.identifier.drac | 27655737 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP6/IP-027657/EU/Perception, action & cognition through learning of object-action complexes/PACOPLUS. |
local.citation.author | Celaya, E.; Albarral, J.; Jimenez, P.; Torras, C. |
local.citation.contributor | International Symposium on Field and Service Robotics |
local.citation.publicationName | Proceedings of the 6th International Conference on Field and Service Robotics 2007 |
local.citation.startingPage | 287 |
local.citation.endingPage | 296 |