Library Subscription: Guest
Begell Digital Portal Begell Digital Library eBooks Journals References & Proceedings Research Collections
Telecommunications and Radio Engineering
SJR: 0.202 SNIP: 0.2 CiteScore™: 0.23

ISSN Print: 0040-2508
ISSN Online: 1943-6009

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

Telecommunications and Radio Engineering

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.