A spherical model for navigation and spatial reasoning
A spherical model for navigation and spatial reasoning
复制标题
用于导航和空间推理的球形模型
DOI：
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发表时间：
1990
期刊：
影响因子：
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通讯作者：
Su
中科院分区：
文献类型：
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作者：
Su
针对移动机器人导航问题，研究了感知空间的球面模型及其与路径空间和位形空间的关系。重点讨论了球面模型在球面八叉树、光流、运动分析、表面和深度信息、导航和避碰等方面的一些结果。这些结果可以应用于动态空间信息系统的开发。光流信息用于提取环境中的局部特征，如深度和表面几何形状。球面（八叉树）数据结构为多传感器融合、导航、电机控制和空间推理提供了一种高效、统一的表示方案
In relation to mobile robot navigation, a spherical model of the perceptual space and its relation to the path space and configuration space are investigated. In particular, some results of spherical octree, optical flow, motion analysis, surface and depth information, navigation, and collision avoidance in the spherical model are discussed. These results can be applied in the development of a dynamical spatial information system. The optical flow information is used to extract local characteristics like depth and surface geometry in the environment. The spherical (octree) data structure provides an efficient and unified representation scheme for multisensor fusion, navigation, motor control, and spatial reasoning.<<ETX>>