Toward domain-independent navigation: Dynamic vision and control

Gregory Hager, D. J. Kriegman, A. S. Georghiades, O. Ben-Shahar

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper outlines a set of problems associated with constructing a robust, domain-independent vision-based navigation system suitable for both structured and unstructured environments. The system utilizes visual tracking to monitor a set of automatically selected image features (markers), and employs vision-based control to guide the motion of the robot from the image trajectory of a set of markers. An environment is represented as a graph which may be constructed either under human control (e.g. by giving the system a tour) or autonomously as the system explores. In this paper, we review the system architecture and present two image-based mobile robot controllers for following visually-defined trajectories.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages3257-3262
Number of pages6
Volume3
StatePublished - 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

Other

OtherProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC)
CityTampa, FL, USA
Period12/16/9812/18/98

Fingerprint

Navigation
Trajectories
Navigation systems
Mobile robots
Robots
Controllers

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Hager, G., Kriegman, D. J., Georghiades, A. S., & Ben-Shahar, O. (1998). Toward domain-independent navigation: Dynamic vision and control. In Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 3257-3262). IEEE.

Toward domain-independent navigation : Dynamic vision and control. / Hager, Gregory; Kriegman, D. J.; Georghiades, A. S.; Ben-Shahar, O.

Proceedings of the IEEE Conference on Decision and Control. Vol. 3 IEEE, 1998. p. 3257-3262.

Research output: Chapter in Book/Report/Conference proceedingChapter

Hager, G, Kriegman, DJ, Georghiades, AS & Ben-Shahar, O 1998, Toward domain-independent navigation: Dynamic vision and control. in Proceedings of the IEEE Conference on Decision and Control. vol. 3, IEEE, pp. 3257-3262, Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC), Tampa, FL, USA, 12/16/98.
Hager G, Kriegman DJ, Georghiades AS, Ben-Shahar O. Toward domain-independent navigation: Dynamic vision and control. In Proceedings of the IEEE Conference on Decision and Control. Vol. 3. IEEE. 1998. p. 3257-3262
Hager, Gregory ; Kriegman, D. J. ; Georghiades, A. S. ; Ben-Shahar, O. / Toward domain-independent navigation : Dynamic vision and control. Proceedings of the IEEE Conference on Decision and Control. Vol. 3 IEEE, 1998. pp. 3257-3262
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