Self Calibration of Motion and Stereo Vision for Mobile Robot Navigation.

Abstract

We report on experiments with a mobile robot using one vision process (forward motion vision) to calibrate another (stereo vision) without resorting to any external units of measurement. Both are calibrated to a velocity dependent coordinate system which is natural to the task of obstacle avoidance. The foundations of these algorithms, in a world of perfect measurement, are quite elementary. The contribution of this work is to make them noise tolerant while remaining simple computationally. Both the algorithms and the calibration procedure are easy to implement and have shallow computational depth, making them (1) run at reasonable speed on moderate uni-processors, (2) appear practical to run continuously, maintaining an up-to-the-second calibration on a mobile robot, and (3) appear to be good candidates for massively parallel implementations.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1987
Accession Number
ADA185602

Entities

People

  • Anita M. Flynn
  • Rodney A. Brooks
  • Thomas Marill

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Artificial Intelligence
  • Autonomous Navigation
  • Calibration
  • Camera Mounts
  • Collision Avoidance
  • Computations
  • Computer Stereo Vision
  • Computer Vision
  • Coordinate Systems
  • Geometry
  • Measurement
  • Orientation (Direction)
  • Robot Navigation
  • Robots
  • Two Dimensional

Readers

  • Geodesy
  • Parallel and Distributed Computing.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy