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Click to download PDF version Click to download BibTeX data Clik to view abstract C. Ackerman, L. Itti, Robot Steering With Spectral Image Information, IEEE Transactions on Robotics, Vol. 21, No. 2, pp. 247-251, Apr 2005. [2003 impact factor: 2.103] (Cited by 39)

Abstract: We introduce a method for rapidly classifying visual scenes, globally along a small number of navigationally relevant dimensions: depth of scene, presence of obstacles, path vs. non-path, and orientation of path. We show that the algorithm reliably classifies scenes in terms of these high-level features, based on global or coarsely localized spectral analysis analogous to early-stage biological vision. We use this analysis to implement a real-time visual navigational system on a mobile robot, trained online by a human operator. We demonstrate successful training and subsequent autonomous path following for two different out-door environments, a running track and a concrete trail. Our success with this technique suggests a general applicability to autonomous robot navigation in a variety of environments.

Keywords: autonomous robot ; Fourier transform ; vision ; path following ; navigation ; gist of a scene

Themes: Beobots, Computer Vision, Scene Understanding


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