Natural scene understanding for mobile robot navigation

Conference Paper · June 1994with7 Reads
DOI: 10.1109/ROBOT.1994.351400 · Source: IEEE Xplore
Conference: Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

    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