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E�cient Local Navigation Using 1D Image Representations

Burbridge, Christopher, Condell, Joan and Nehmzow, Ulrich (2010) E�cient Local Navigation Using 1D Image Representations. In: IAS 11 - Intelligent Autonomous Systems 11, Ottawa, Canada. IOS Press Inc.. 11 pp. [Conference contribution]

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In this paper a new, e�cient approach to accurate image-basedhoming is proposed for indoor robots that makes use of the ceiling plane.A gradient orientation histogram is built to calculate the rotation ofthe robot between a target location `snapshot' and the current imageperception, and e�cient 1D average row and column images are constructedto nd the vector pointing to the home location. Our algorithmis ideally suited for use on low-powered, cheap robots where sensing andcomputational power are limited.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:17382
Deposited By: Dr Joan Condell
Deposited On:26 May 2011 14:37
Last Modified:09 Dec 2015 10:54

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