A high-level perception architecture: real-time visual navigation for autonomous robots in structured environments
This thesis describes the design and implementation of a mobile robot which is able to perform a structural interpretation of indoor environments, using only visual and proprioceptive sensory information. The desired behaviour is real-time navigation based on this interpretation, instead of a reacti...
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| Formato: | Articulo Revision |
| Lenguaje: | Inglés |
| Publicado: |
2003
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| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/9472 http://journal.info.unlp.edu.ar/wp-content/uploads/JCST-Oct03-TO1.pdf |
| Aporte de: |
| Sumario: | This thesis describes the design and implementation of a mobile robot which is able to perform a structural interpretation of indoor environments, using only visual and proprioceptive sensory information. The desired behaviour is real-time navigation based on this interpretation, instead of a reactive approach. The design is guided by a predictive criterion: the system must anticipate the consequences of its actions, showing a certain predictive understanding of the scene in which it moves. |
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