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Burbridge, Christopher, Condell, Joan and Nehmzow, Ulrich (2010) Ecient Local Navigation Using 1D Image Representations. In: IAS 11 - Intelligent Autonomous Systems 11, Ottawa, Canada. IOS Press Inc.. 11 pp. [Conference contribution]
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| PDF (Draft of paper) - Updated Version 389Kb |
Abstract
In this paper a new, ecient approach to accurate image-basedhoming is proposed for indoor robots that makes use of the ceiling plane.A gradient orientation histogram is built to calculate the rotation ofthe robot between a target location `snapshot' and the current imageperception, and ecient 1D average row and column images are constructedto nd the vector pointing to the home location. Our algorithmis ideally suited for use on low-powered, cheap robots where sensing andcomputational power are limited.
| Item Type: | Conference contribution (Paper) |
|---|---|
| Faculties and Schools: | Faculty of Computing & Engineering Faculty of Computing & Engineering > School of Computing and Intelligent Systems |
| Research Institutes and Groups: | Computer Science Research Institute Computer Science Research Institute > Intelligent Systems Research Centre |
| ID Code: | 17382 |
| Deposited By: | Dr Joan Condell |
| Deposited On: | 26 May 2011 15:37 |
| Last Modified: | 26 May 2011 15:37 |
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