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Continuous motion using task-directed stereo visionThe performance of autonomous mobile robots performing complex navigation tasks can be dramatically improved by directing expensive sensing and planning in service of the task. The task-direction algorithms can be quite simple. In this paper we describe a simple task-directed vision system which has been implemented on a real outdoor robot which navigates using stereo vision. While the performance of this particular robot was improved by task-directed vision, the performance of task-directed vision in general is influenced in complex ways by many factors. We briefly discuss some of these, and present some initial simulated results.
Document ID
19930065445
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Gat, Erann
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Loch, John L.
(JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991 (A93-49438 21-63)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Cybernetics
Accession Number
93A49442
Distribution Limits
Public
Copyright
Other

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