Stereo Vision and Navigation in Buildings for Mobile Robots

IEEE Transactions on Robotics and Automation

Volumn 5, Issue 6, 1989, Pages 792-803

  Kriegman, David J ^a   Triendl, Ernst ^a   Binford, Thomas O ^a  

^a STANFORD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

MATHEMATICAL TRANSFORMATIONS; SIGNAL FILTERING AND PREDICTION--KALMAN FILTERING; VEHICLES--NAVIGATION SYSTEMS; VISION;

EDGE DETECTION; MOBILE ROBOTS NAVIGATION; STEREO ALGORITHM; STEREO VISION; UNCERTAIN SYSTEMS;

ROBOTICS;

EID: 0024910915     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.88100     Document Type: Article

References (29)

1. P. Alevizos J.D. Boissonnat and M. Yuinec “An Optimal 0(n log (n)) algorithm for contour reconstruction from rays,” in ACM Symp. on Computational Geometry June 1987
2. N. Ayache and O. D. Faugeras, “Building, registrating, and fusing noisy visual maps,” in Int. Conf. on Computer Vision, pp. 73–82, 1987.
3. —, “Maintaining representations of the environment of a mobile robot,” Tech. Rep. 789, INRIA, 1988.
4. D. H. Ballard and C. M. Brown, Computer Vision. Englewood Cliffs, NJ: Prentice-Hall, 1982.
5. T. O. Binford, “Generic surface interpretation: Observability model,” in Int. Symp. on Robotics Research, 1987.
6. R. A. Brooks, “Visual map making for a mobile robot,” in IEEE Int. Conf. on Robotics and Automation, 1985.
7. R. A. Brooks, “A robust layered control system for a mobile robot,” IEEE J. Robotics Automat., vol. RA-2, no. 1, pp. 14–23, Mar. 1986.
8. R. Chatila and J. P. Laumond, “Position referencing and consistent world modeling for mobile robots,” in IEEE Int. Conf. on Robotics and Automation, 1985.
9. H. F. Durrant-Whyte, “Uncertain geometry in robotics,” IEEE J. Robotics Automat., vol. 4, pp. 23–31, Feb. 1988.
10. A. Elfes and L. Matthies, “Sensor integration for robot navigation: Combining sonar and stereo range data in a grid-based representation,” in IEEE Conf. on Decision and Control, 1987.
11. G. Giralt, R. Chatila. and M. Vaisset, “An integrated navigation and motion control system for autonomous multisensory mobile robots,” in Brady and Paul, Eds. Robotics Research. Cambridge, MA: MIT Press, 1983, pp. 191–214.
12. M. Hebert, “3-D vision for outdoor navigation by an autonomous vehicle,” in Proc. Image Understanding Workshop (Cambridge, UK, 1988).
13. R. H. Hollier. Automated Guided Vehicle Systems. New York, NY: Springer. 1987.
14. William M. Wells, III, “Visual estimation of 3-D line segments from motion—A mobile robot vision system,” in Proc. Amer. Assoc. Artificial Intell., 1987.
15. T. Kailath, Lectures on Wiener and Kalman Filtering. New York, NY: Springer-Verlag, 1981.
16. Y. Kanayama and N. Miyake, “Trajectory generation for mobile robots,” in Int. Symp. on Robotics Research, 1985.
17. O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” Int. J. Robotics Res., vol. 5, no. 1, pp. 90–98, 1986.
18. D. J. Kriegman and T. O. Binford, “Generic models for robot navigation,” in IEEE Int. Conf. on Robotics and Automation, 1988.
19. T. Lozano-Perez, “Automatic planning of manipulator transfer movements,” in M. Brady et al., Eds., Robot Motion: Planning and Control. Cambridge, MA: MIT Press, 1982.
20. V. Lumelsky, “Algorithmic issues of sensor-based robot motion planning.” in IEEE Conf. on Decision and Control, 1987.
21. L. Mathies and S. A. Shafer, “Error modeling in stereo navigation,” IEEE J. Robotics Automat., vol. RA-3, no. 3, pp. 239–248, 1987.
22. R. McKendall and M. Mintz, “Robust fusion of location information,” in IEEE Int. Conf. on Robotics and Automation, 1988.
23. H. P. Moravec, “The Stanford cart and the CMU rover,” Proc. IEEE, vol. 71. no. 7. pp. 872–884, July 1983.
24. R. Smith and P. Cheeseman, “Estimating uncertain spatial relationships in robotics.” in AAAI Workshop on Uncertainty in Artificial Intelligence, Aug. 1986.
25. C. E. Thorpe, M. Hebert, T. Kanade, and S. Shafer, “Vision and navigation for the Carnegie-Mellon Navlab,” IEEE Trans. Pattern Anal. Machine Intell., vol. 10. no. 3, pp. 362–373, May 1988.
26. E. Triendl, “How to get the edge into the map,” in Int. Conf. on Pattern Recognition, 1978.
27. E. Triendl and D. J. Kriegman, “Stereo vision and navigation within buildings,” in IEEE Int. Conf. on Robotics and Automation, 1987.
28. M. A. Turk, D. G. Morgenthaler, K. D. Gremban, and M. Marra, “VITS—A vision system for autonomous land vehicle navigation,” IEEE Trans. Pattern Anal. Machine Intell., vol. 10, no. 3, pp. 342–361, May 1988.
29. A. M. Waxman, J. J. LeMoigne, L. S. Davis, B. Srivivasan, T. R. Kushner, E. Liang, and T. Siddalingaiah, “A visual navigation system for autonomous land vehicles,” IEEE J. Robotics Automat., vol. RA-3, no. 2, pp. 124–141, 1987.