engleski

Self-localisation procedure for autonomous navigation through corridors

In this paper we describe a self-localisation procedure for an autonomous robot navigating through a system of corridors. The proposed "look-around" procedure controls the data acquisition process through a single camera in order to collect basic knowledge about the structure of the environment and to find out possible directions of further exploring and advancement. The procedure is based on the iterative application of the algorithm for finding potential vanishing points over the set of regularly arranged horizontal viewing directions. Experimental results obtained by applying the procedure on real scenes are provided.

machine vision; robot vision systems; projective geometry; vanishing points; localisation procedure

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