Visual algorithms for autonomous navigation

Fred P. Andresen, Larry S. Davis, Roger D. Eastman, Subbarao Kambhampati

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

The Computer Vision Laboratory at the University of Maryland is designing and developing a vision system for autonomous ground navigation. Our approach to visual navigation segments the task into three levels called long range, intermediate range and short range navigation. At the long range, one would first generate a plan for the day's outing, identifying the starting location, the goal, and a low resolution path for moving from the start to the goal. From time to time, during the course of the outing, one may want to establish his position with respect to the long range plan. This could be accomplished by visually identifying landmarks of known location, and then triangulating to determine current position. We describe a vision system for position determination that we have developed as part of this project. At the intermediate range, one would look ahead to determine generally safe directions of travel called corridors of free apace. Short range navigation is the process that, based on a detailed topographic analysis of one's immediate environment, enables us to safely navigate around obstacles in the current corridor of free space along a track of safe passage. We describe a quadtree based path planning algorithm which could serve as the basis for identifying such tracks of safe passage.

Original languageEnglish (US)
Title of host publicationProceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages856-861
Number of pages6
ISBN (Print)0818606150
DOIs
StatePublished - Jan 1 1985
Externally publishedYes
Event2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States
Duration: Mar 25 1985Mar 28 1985

Other

Other2nd IEEE International Conference on Robotics and Automation, ICRA 1985
CountryUnited States
CitySt. Louis
Period3/25/853/28/85

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Andresen, F. P., Davis, L. S., Eastman, R. D., & Kambhampati, S. (1985). Visual algorithms for autonomous navigation. In Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985 (pp. 856-861). [1087352] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1985.1087352