Image-based prediction of landmark features for mobile robot navigation

Gregory Hager, David Kriegman, Erliang Yeh, Christopher Rasmussen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We have been developing an architecture for vision-based navigation which relies on continuous feedback from visual `landmarks' to control robot motion. In this approach, landmarks are consistently located and acquired as they come into view. To make this process efficient and robust, it is important that the image locations of these features can be predicted from available image information. In this article, we discuss methods for direct image-based prediction of point and line features for a mobile system operating on a planar surface. Preliminary experimental results suggest that image-based prediction can be performed efficiently and with sufficient accuracy to ensure robust acquisition of navigational landmarks.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages1040-1046
Number of pages7
Volume2
StatePublished - 1997
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: Apr 20 1997Apr 25 1997

Other

OtherProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
CityAlbuquerque, NM, USA
Period4/20/974/25/97

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Hager, G., Kriegman, D., Yeh, E., & Rasmussen, C. (1997). Image-based prediction of landmark features for mobile robot navigation. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1040-1046). IEEE.