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active-vision-based method for autonomous navigation
- Date Issued:
- 1997
- Summary:
- This research explores the existing active-vision-based algorithms employed in today's autonomous navigation systems. Some of the popular range finding algorithms are introduced and presented with examples. In light of the existing methods, an active-vision-based method, which extracts visual cues from a sequence of 2D images, is proposed for autonomous navigation. The proposed algorithm merges the method titled 'Visual Threat Cues (VTCs) for Autonomous Navigation' developed by Kundur (1), with the structured-light-based methods. By combining these methods, a more practical and a simpler method for indoors autonomous navigation tasks is developed. A textured-pattern, which is projected onto the object surface by a slide projector, is used as the structured-light source, and the proposed approach is independent of the textured-pattern used. Several experiments are performed with the autonomous robot LOOMY to test the proposed algorithm, and the results are very promising.
Title: | An active-vision-based method for autonomous navigation. |
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Name(s): |
Ergen, Erkut Erhan. Florida Atlantic University, Degree grantor Raviv, Daniel, Thesis advisor |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Issuance: | monographic | |
Date Issued: | 1997 | |
Publisher: | Florida Atlantic University | |
Place of Publication: | Boca Raton, Fla. | |
Physical Form: | application/pdf | |
Extent: | 103 p. | |
Language(s): | English | |
Summary: | This research explores the existing active-vision-based algorithms employed in today's autonomous navigation systems. Some of the popular range finding algorithms are introduced and presented with examples. In light of the existing methods, an active-vision-based method, which extracts visual cues from a sequence of 2D images, is proposed for autonomous navigation. The proposed algorithm merges the method titled 'Visual Threat Cues (VTCs) for Autonomous Navigation' developed by Kundur (1), with the structured-light-based methods. By combining these methods, a more practical and a simpler method for indoors autonomous navigation tasks is developed. A textured-pattern, which is projected onto the object surface by a slide projector, is used as the structured-light source, and the proposed approach is independent of the textured-pattern used. Several experiments are performed with the autonomous robot LOOMY to test the proposed algorithm, and the results are very promising. | |
Identifier: | 9780591449808 (isbn), 15425 (digitool), FADT15425 (IID), fau:12191 (fedora) | |
Collection: | FAU Electronic Theses and Dissertations Collection | |
Note(s): |
College of Engineering and Computer Science Thesis (M.S.)--Florida Atlantic University, 1997. |
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Subject(s): |
Autonomous robots Automotive sensors |
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Held by: | Florida Atlantic University Libraries | |
Persistent Link to This Record: | http://purl.flvc.org/fcla/dt/15425 | |
Sublocation: | Digital Library | |
Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
Host Institution: | FAU | |
Is Part of Series: | Florida Atlantic University Digital Library Collections. |