Conference Paper

Natural scene understanding for mobile robot navigation

Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse
DOI: 10.1109/ROBOT.1994.351400 Conference: Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Source: IEEE Xplore

ABSTRACT In this paper, we focus on some perceptual functions required by a
generic task “GOTO” in natural environments; in previous
works, only geometrical modeling has been used to deal with two
fundamental tasks: landmark extraction and recognition for sensor-based
motion control or robot localization, and terrain modeling for motion
planning. Geometrical representations alone lead to a bulky model, and,
after some iterations, to a combinatorial explosion. We present here,
higher level representations; from a range image, given some assumptions
on the perceived scene (even ground with few objects), we propose a
segmentation algorithm to extract simple semantical representations for
the ground and the objects; then, we can analyze the relative positions
of the objects to build a topological scene description. Both models
constitute the scene model, needed for further incremental environment
modeling

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