Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 8, NO. 5, OCTOBER 1992 Position Estimation for an Autonomous
 

Summary: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 8, NO. 5, OCTOBER 1992
Position Estimation for an Autonomous
Mobile Robot in an Outdoor Environment
Raj Talluri and J. K.
Abstract- This paper presents a solution to the position es-
timation problem of an autonomous land vehicle navigating in
an unstructured mountainous terrain. A digital elevation map
(DEM) of the area in which the robot is to navigate is assumed
to be given. It is also assumed that the robot is equipped with
a camera that can be panned and tilted, a compass, and an
altimeter. No recognizable landmarks are assumed to be present
in the environment in which the robot is to navigate, and the
robot is not assumed to have an initial estimate of its position.
The solution presented here makes use of the DEM information,
and structures the problem as a constrained search paradigm by
searching the DEM for the possible robot location. The shape
and position of the horizon line in the image plane and the
known camera geometry of the perspective projection are used as
parameters to search the DEM. Geometric constraints are used
to prune the search space significantly. The algorithm is made

  

Source: Aggarwal, J. K. - Department of Electrical and Computer Engineering, University of Texas at Austin

 

Collections: Computer Technologies and Information Sciences; Engineering