Location Recognition Using Stereo Vision

Abstract

A mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, we present a system that builds and maintains its own models of world locations and uses these models to recognize its world position from stereo vision input. The system is designed to be robust with respect to input errors and to respond to a gradually changing world by updating the world locations models. We present results from tests of the system that demonstrate it reliability. The model builder and recognizer system fit into a planned world modeling system that we describe. Keywords: Recognition; Artificial intelligence; Mobile robot; Stereo vision; Navigation.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1989
Accession Number
ADA218218

Entities

People

  • David J. Braunegg

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Computer Science
  • Computer Stereo Vision
  • Computer Vision
  • Computers
  • Control Systems
  • Coordinate Systems
  • Data Sets
  • Image Processing
  • Navigation
  • Object Recognition
  • Range Finding
  • Recognition
  • Robotics
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science
  • Engineering

Readers

  • Geodesy
  • Neural Network Machine Learning.
  • Robotics and Automation.

Technology Areas

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