E�cient Local Navigation Using 1D Image Representations

Christopher Burbridge; Joan Condell; Ulrich Nehmzow

E�cient Local Navigation Using 1D Image Representations

Christopher Burbridge, Joan Condell, Ulrich Nehmzow

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Unknown Host Publication
Publisher	IOS Press
Pages	153-162
Number of pages	11
Publication status	Published (in print/issue) - 1 Sept 2010
Event	IAS 11 - Intelligent Autonomous Systems 11 - Ottawa, Canada Duration: 1 Sept 2010 → …

Conference

Conference	IAS 11 - Intelligent Autonomous Systems 11
Period	1/09/10 → …

Cite this

@inproceedings{71250291a73547b4b68ab4cb8b1b0fe4,

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.",

author = "Christopher Burbridge and Joan Condell and Ulrich Nehmzow",

year = "2010",

month = sep,

day = "1",

language = "English",

pages = "153--162",

booktitle = "Unknown Host Publication",

publisher = "IOS Press",

address = "Netherlands",

note = "IAS 11 - Intelligent Autonomous Systems 11 ; Conference date: 01-09-2010",

}

TY - GEN

T1 - E�cient Local Navigation Using 1D Image Representations

AU - Burbridge, Christopher

AU - Condell, Joan

AU - Nehmzow, Ulrich

PY - 2010/9/1

Y1 - 2010/9/1

N2 - 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.

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.

M3 - Conference contribution

SP - 153

EP - 162

BT - Unknown Host Publication

PB - IOS Press

T2 - IAS 11 - Intelligent Autonomous Systems 11

Y2 - 1 September 2010

ER -

E�cient Local Navigation Using 1D Image Representations

Abstract

Conference

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