E�cient Local Navigation Using 1D Image Representations

Christopher Burbridge, Joan Condell, Ulrich Nehmzow

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper a new, e�cient approach to accurate image-basedhoming is proposed for indoor robots that makes use of the ceiling plane.A gradient orientation histogram is built to calculate the rotation ofthe robot between a target location `snapshot' and the current imageperception, and e�cient 1D average row and column images are constructedto nd the vector pointing to the home location. Our algorithmis ideally suited for use on low-powered, cheap robots where sensing andcomputational power are limited.
LanguageEnglish
Title of host publicationUnknown Host Publication
PublisherIOS Press
Pages153-162
Number of pages11
Publication statusPublished - 1 Sep 2010
EventIAS 11 - Intelligent Autonomous Systems 11 - Ottawa, Canada
Duration: 1 Sep 2010 → …

Conference

ConferenceIAS 11 - Intelligent Autonomous Systems 11
Period1/09/10 → …

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Navigation
Robots
Ceilings

Cite this

Burbridge, C., Condell, J., & Nehmzow, U. (2010). E�cient Local Navigation Using 1D Image Representations. In Unknown Host Publication (pp. 153-162). IOS Press.
Burbridge, Christopher ; Condell, Joan ; Nehmzow, Ulrich. / E�cient Local Navigation Using 1D Image Representations. Unknown Host Publication. IOS Press, 2010. pp. 153-162
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title = "E�cient Local Navigation Using 1D Image Representations",
abstract = "In this paper a new, e�cient approach to accurate image-basedhoming is proposed for indoor robots that makes use of the ceiling plane.A gradient orientation histogram is built to calculate the rotation ofthe robot between a target location `snapshot' and the current imageperception, and e�cient 1D average row and column images are constructedto nd the vector pointing to the home location. Our algorithmis ideally suited for use on low-powered, cheap robots where sensing andcomputational power are limited.",
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year = "2010",
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Burbridge, C, Condell, J & Nehmzow, U 2010, E�cient Local Navigation Using 1D Image Representations. in Unknown Host Publication. IOS Press, pp. 153-162, IAS 11 - Intelligent Autonomous Systems 11, 1/09/10.

E�cient Local Navigation Using 1D Image Representations. / Burbridge, Christopher; Condell, Joan; Nehmzow, Ulrich.

Unknown Host Publication. IOS Press, 2010. p. 153-162.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Condell, Joan

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AB - In this paper a new, e�cient approach to accurate image-basedhoming is proposed for indoor robots that makes use of the ceiling plane.A gradient orientation histogram is built to calculate the rotation ofthe robot between a target location `snapshot' and the current imageperception, and e�cient 1D average row and column images are constructedto nd the vector pointing to the home location. Our algorithmis ideally suited for use on low-powered, cheap robots where sensing andcomputational power are limited.

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Burbridge C, Condell J, Nehmzow U. E�cient Local Navigation Using 1D Image Representations. In Unknown Host Publication. IOS Press. 2010. p. 153-162