Experiments in mobile robot navigation and range imaging
- Oak Ridge National Lab., TN (United States)
- Norges Tekniske Hoegskole, Trondheim (Norway). Div. of Computer Systems and Telematics
- Aalborg Universitetscenter (Denmark). Lab. of Image Analysis
This paper describes some experiments in sensor-based mobile robot navigation conducted at Oak Ridge National Laboratory over the past several years. Two implemented systems are described. One uses a laser range camera as the sole sensor. The other uses, in addition, an array of sonars and a stereo vision system. We discuss a communication system for heterogeneous LAN-connected multiprocessor systems, useful in reasonably large development projects such as these. We also describe some work on the estimation of curvature in range images which introduces a new variational principle motivated by minimization of the change of curvature. Application of this principle is shown to produce results which are more desirable in some respects than those obtained using standard quadratic variation.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); Danish Ministry of Education (Denmark); Tugborg Foundation (United States); Foundation Vision North (United States); Otto Monsted Foundation; Obel (C.W.) Foundation (United States); Norges Teknisk-Naturvitenskapelige Forskningsraad, Oslo (Norway)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10157897
- Report Number(s):
- CONF-9305198-1; ON: DE93013280
- Resource Relation:
- Conference: 8. Scandanavian conference on image analysis,Tromso (Norway),25-28 May 1993; Other Information: PBD: [1993]
- Country of Publication:
- United States
- Language:
- English
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