移动机器人细心观察的三维场景描述的选择性细化

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407527

H. Takizawa, Y. Shirai, J. Miura

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引用次数: 8

摘要

本文介绍了一种基于注意观察的移动机器人导航方法。利用约束Delaunay三角剖分构造三维场景描述，并根据描述确定到达给定目的地的路径。如果没有找到可靠的路径，则集中观察最有希望路径上的未知图像区域。将新获得的数据整合到原始描述中，并在新的描述中搜索路径。并给出了实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Selective refinement of 3-D scene description by attentive observation for mobile robot

This paper describes a navigation method for a mobile robot by attentive observation. A 3D scene description is constructed with the constrained Delaunay triangulation and a path to a given destination is determined from the description. If any reliable path is not found, the unknown image region on the most promising path is observed attentively. The newly obtained data is integrated to the original description and a path is searched for in the new description. The experimental results are shown.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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