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Autonomous mobile robot navigation using fish-eye lenses

  • Session IA1a — Robot Navigation & Tracking
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Book cover Image Analysis Applications and Computer Graphics (ICSC 1995)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1024))

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Abstract

We present an autonomous mobile robot navigation system using stereo fish-eye lenses for navigation in indoor structured environments. The system estimates the three-dimensional (3D) position of significant features in the environment, and by estimating its relative position, navigates through narrow passages and makes turns at the end of corridors. Fish-eye lenses are used to provide a large field of view, which helps in imaging objects close to the robot. The system is implemented and tested in a structured environment at our laboratory. Results from the robot navigation in real environments are presented.

This research was supported by ARO DAAH-04-94-G-0417 and Joint Services Electronics Program Contract F49620-92-C-0027.

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References

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Author information

Authors and Affiliations

  1. Computer and Vision Research Center Department of Electrical and Computer Engineering, The University of Texas at Austin, 78712-1084, Austin, Texas, USA

    Shishir Shah & J. K. Aggarwal

Authors
  1. Shishir Shah
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  2. J. K. Aggarwal
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Editor information

Roland T. Chin Horace H. S. Ip Avi C. Naiman Ting-Chuen Pong

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© 1995 Springer-Verlag Berlin Heidelberg

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Shah, S., Aggarwal, J.K. (1995). Autonomous mobile robot navigation using fish-eye lenses. In: Chin, R.T., Ip, H.H.S., Naiman, A.C., Pong, TC. (eds) Image Analysis Applications and Computer Graphics. ICSC 1995. Lecture Notes in Computer Science, vol 1024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-60697-1_81

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  • DOI: https://doi.org/10.1007/3-540-60697-1_81

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-60697-0

  • Online ISBN: 978-3-540-49298-6

  • eBook Packages: Springer Book Archive

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