Characterising an indoor environment with a mobile robot and uncalibrated stereo
Characterising an indoor environment with a mobile robot and uncalibrated stereo
复制标题
使用移动机器人和未校准的立体声来表征室内环境
DOI：
10.1109/robot.1989.100109
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
K. Sarachik
中科院分区：
文献类型：
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作者：
K. Sarachik
作者展示了一个移动的机器人如何利用通过扫描房间获得的视觉信息来确定房间的大小和形状，并在房间内不断地定位自己。所使用的设备是一个非常简单的摄像机，其详细的初始配置尚不清楚，但可以随着算法的运行而推断出来。该方法不需要任何特殊的环境，也不会对被检查房间的物理方面的变化（例如移动的家具或漫游的人）敏感。该项目的长期目标是让机器人使用由此获得的信息来构建其环境的地图，假设是办公楼的一层，并在此框架内定位自己。<<ETX>>
The author shows how it is possible for a mobile robot to exploit the visual information obtained by scanning a room to determine its size and shape, and to orient itself continually within it. The equipment used is a very simple camera setup whose detailed initial configuration is not known but can be deduced as the algorithm runs. The approach does not require any special environment, nor is it sensitive to changes in the physical aspect of the room being inspected such as moved furniture or roaming people. The long-term goal of the project is for the robot to use the information thus acquired in order to build maps of its environment, presumed to be a single floor of an office building, and to localize itself within this framework.<<ETX>>