Acquisition and propagation of spatial constraints based on qualitative information

Takushi Sogo, Hiroshi Ishiguro, Toru Ishida

研究成果: Article査読

15 被引用数 (Scopus)

抄録

In robot navigation, one of the important and fundamental issues is to find positions of landmarks or vision sensors located around the robot. This paper proposes a method for reconstructing qualitative positions of multiple vision sensors from qualitative information observed by the vision sensors, i.e., motion directions of moving objects. In order to directly acquire the qualitative positions of points, the method proposed in this paper iterates the following steps: 1) observing motion directions (left or right) of moving objects with the vision sensors, 2) classifying the vision sensors into spatially classified pairs based on the motion directions, 3) acquiring three point constraints, and 4) propagating the constraints. Compared with the previous methods, which reconstruct the environment structure from quantitative measurements and acquire qualitative representations by abstracting it, this paper focuses on how to acquire qualitative positions of landmarks from low-level, simple, and reliable information (that is, "qualitative"). The method been evaluated with simulations and also verified with observation errors.

本文言語English
ページ(範囲)268-278
ページ数11
ジャーナルIEEE Transactions on Pattern Analysis and Machine Intelligence
23
3
DOI
出版ステータスPublished - 2001 3
外部発表はい

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • 計算理論と計算数学
  • 人工知能
  • 応用数学

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