MARVEL: A System for Recognizing World Locations with Stereo Vision

Abstract

To use a world model, a mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, I present MARVEL, 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. MARVEL is designed to be robust with respect to input errors and to respond to a gradually changing world by updating its world location models. I present results from real-world tests of the system that demonstrate its reliability. MARVEL fits into a world modeling system under development. (Author) (kr)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1990
Accession Number
ADA225709

Entities

People

  • David J. Braunegg

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Artificial Intelligence
  • Autonomous Navigation
  • Autonomous Systems
  • Computer Graphics
  • Computer Science
  • Computer Stereo Vision
  • Computer Vision
  • Coordinate Systems
  • Geometry
  • Image Processing
  • Kalman Filters
  • Motion Planning
  • Navigation
  • Robot Navigation
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Economics

Technology Areas

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