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电信和无线电工程
SJR: 0.202 SNIP: 0.2 CiteScore™: 0.23

ISSN 打印: 0040-2508
ISSN 在线: 1943-6009

卷:
卷 78, 2019 卷 77, 2018 卷 76, 2017 卷 75, 2016 卷 74, 2015 卷 73, 2014 卷 72, 2013 卷 71, 2012 卷 70, 2011 卷 69, 2010 卷 68, 2009 卷 67, 2008 卷 66, 2007 卷 65, 2006 卷 64, 2005 卷 63, 2005 卷 62, 2004 卷 61, 2004 卷 60, 2003 卷 59, 2003 卷 58, 2002 卷 57, 2002 卷 56, 2001 卷 55, 2001 卷 54, 2000 卷 53, 1999 卷 52, 1998 卷 51, 1997

电信和无线电工程

DOI: 10.1615/TelecomRadEng.v56.i6-7.70
8 pages

Modeling of an Active Camera for Selection and Tracking of Visual Landmarks in Mobile Robot Navigation

Victor Ayala-Ramirez
Universidad de Guanajuato FIMEE, Tampico 912, Colonia Bellavista, Salamanca, Guanajuato, 36730 MEXICO
Michel Devy
Yuriy V. Shkvarko
Visiting professor in the FIMEE, University of Guanajuato, Mexico
Rene Jaime-Rivas
Head of FIMEE at the University of Guanajuato, 36730 Salamanca, Gto. Mexico

ABSTRACT

We present some active visual functionalities for a landmark-based navigation system. This paper is focused on two functions: (1) the selection of the landmarks that must be tracked from a given robot situation, and (2) the active control of the camera modalities (zoom and pan parameters). Using a discretization of the configuration space, visibility and utility grids are dynamically built and updated during the path execution: a simple function exploits these grids to select the optimal parameters. Several experimental results demonstrate the validity of the approach.


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