Session:

Standard Components and Activities in the Engineering of Intelligent Systems
Monday March 01, 2004, 17.15 – 17.35

Session Chair:

Tatjana Welzer

Paper Title:

Model-Based Door Localization for Corridor Navigation

Author(s):

J. Sigut, University of La Laguna, Spain

Abstract:

The goal of this work is to provide a mobile robot with visual capabilities to navigate along a corridor and recognize the doors situated on one side of it. A monocular camera and a laser rangefinder were used for this purpose. A model-based vision strategy has been followed. Special emphasis has been put on the perceptual grouping stage and also on the determination of the parameters defining the transformation from the real 3-D scene to the 2-D image acquired by the camera. Several algorithms have been implemented in order to solve these tasks.