Vision Based Autonomous Robot Navigation: Motion Segmentation,
Abstract
The ability to acquire and respond appropriately to targets or obstacles. moving or stationary, while underway, is critical for all unmanned mobile robot applications. This is achieved by most animate systems, but has proven difficult for artificial systems. We propose that efficient and extensible solutions to the target acquisition, discrimination, and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed by biological systems. In nature. visual motion provides the basis for these functions. Because visual motion can be due either to target motion or to platform motion, a method of motion segmentation must be found. We present a solution to this problem that emulates natural strategies, and describe its implementation in an autonomous visually controlled mobile robot.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 1996
- Accession Number
- ADA308472
Entities
People
- Hoa G. Nguyen
- Michael R. Blackburn
Organizations
- Naval Command, Control and Ocean Surveillance Center