In this paper we present a vision system for an autonomous mobile robot. Our robot performs goal-reaching tasks into unknown indoor environments by using visual landmarks. Robot vision processes are performed at different levels of abstraction in order to extract useful information for robot navigation. The system, based on the HSV color space, is implemented by two groups of parallel processes: a low-level vision system performs obstacle avoidance and corridor following, while a high-level vision system extracts landmark contents for high-level planning. System performance was tested on sets of digital images supplied by the RWI B12 mobile robot camera.


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    Title :

    A navigation system for vision-guided mobile robots


    Contributors:
    Vitabile, S. (author) / Pilato, G. (author) / Pullara, F. (author) / Sorbello, F. (author)


    Publication date :

    1999-01-01


    Size :

    199630 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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