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Hirschmüller, Heiko and Schmid, Korbinian and Suppa, Michael (2015) Computer Vision for Mobile Robot Navigation. In: Photogrammetric Week '15, pp. 143-154. Wichmann. Photogrammetrische Woche 2015, 2015-09-07 - 2015-09-11, Stuttgart, Germany.
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Official URL: http://www.ifp.uni-stuttgart.de/publications/phowo15/150Hirschmueller.pdf
Abstract
Vision is a very important sense for humans. Robots also need to be aware of their environment for working in it. This is even more important for mobile robots that operate in unknown environments that are not prepared for robots. In this paper, we focus on the aspect of navigation of mobile robots for applications in search and rescue as well as planetary exploration. We discuss a typical vision pipeline and navigation stack that has been developed at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR). In recent years, we have successfully applied the solution to a number of crawling, driving and flying robots. We present mobile systems in several applications and also discuss the relation between computer vision and photogrammetry.
| Item URL in elib: | https://elib.dlr.de/98635/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Computer Vision for Mobile Robot Navigation | ||||||||||||||||
| Authors: |
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| Date: | 8 September 2015 | ||||||||||||||||
| Journal or Publication Title: | Photogrammetric Week '15 | ||||||||||||||||
| Refereed publication: | No | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| Page Range: | pp. 143-154 | ||||||||||||||||
| Editors: |
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| Publisher: | Wichmann | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | computer vision, stereo vision, navigation, mobile robots | ||||||||||||||||
| Event Title: | Photogrammetrische Woche 2015 | ||||||||||||||||
| Event Location: | Stuttgart, Germany | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 7 September 2015 | ||||||||||||||||
| Event End Date: | 11 September 2015 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Multisensorielle Weltmodellierung (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition | ||||||||||||||||
| Deposited By: | Hirschmüller, Dr.(PH.D.) Heiko | ||||||||||||||||
| Deposited On: | 13 Nov 2015 21:45 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 20:04 |
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