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A mobile robot for corridor navigation

Y. Ono, H. Uchiyama, W. Potter
2004 Proceedings of the 42nd annual Southeast regional conference on - ACM-SE 42  
Using a robot equipped with a minimal set of sensors such as a camera and infrared sensors, our multiagent based control system is built to tackle various problems encountered during corridor navigation  ...  The control system consists of four agents: an agent responsible for handling sensor inputs, an agent which identifies a corridor using machine vision techniques, an agent which avoids collisions by applying  ...  This semi-autonomous robot travels safely in an indoor environment using various sensors.  ... 
doi:10.1145/986537.986629 dblp:conf/ACMse/OnoUP04 fatcat:g4muw3zx2bcqtklkxwj5hu3a7q

Indoor Mobile Robot Navigation by Center Following Based on Monocular Vision [chapter]

Takeshi Saitoh, Naoya Tada, Ryosuke Konishi
2008 Computer Vision  
For the robot navigation, it is a mainstream method to follow the robot generated the route with the prior environmental information.  ...  This method is based on three assumptions that are reasonable for a variety of indoor environments: 1. obstacles differ in appearance from the corridor, 2. the corridor is relatively flat, 3. there are  ...  Among them, research on RFID technology integrating stereo vision to localize an indoor mobile robot is included in this book.  ... 
doi:10.5772/6152 fatcat:h3pngsh6bfbipgrwnlhuotdppm

Modeling and simulating assistive environments in 3-D with the YAMAMOTO toolkit

Christoph Stahl, Tim Schwartz
2010 2010 International Conference on Indoor Positioning and Indoor Navigation  
We focus on the tool's ability to represent and simulate sensors and actuators, i.e. navigational beacons used for indoor positioning and navigation purposes.  ...  We present the map modeling toolkit YAMAMOTO, which allows to efficiently model and design assistive building environments in 3-D.  ...  WAYFINDING AND NAVIGATIONAL AID Seamless route-finding is supported in indoor and outdoor environments without the need for explicit modeling of path networks.  ... 
doi:10.1109/ipin.2010.5647505 fatcat:wevmvleztrfrbjxxgsmxn7h53i

Task-Oriented Evaluation of Indoor Positioning Systems [chapter]

Robert Jackermeier, Bernd Ludwig
2017 Lecture Notes in Geoinformation and Cartography  
the correct segment of an indoor route, which in turn enables the navigation system to give correct instructions.  ...  In order to evaluate the described metric, we use a pedestrian dead reckoning approach to compute indoor positions.  ...  Data Model for Landmark-based Navigation While the mean positioning error is definitely of interest for building autonomous systems that can navigate in indoor environments (e.g. robots for ambient assisted  ... 
doi:10.1007/978-3-319-71470-7_2 fatcat:2xiznqhp5vaudfi5evmlkuhmuq

Fast Width Detection in Corridor Using Hough Transform

Mehrdad Javadi, Mehdi Ebrahimi
2012 International Journal of Image Graphics and Signal Processing  
The present paper proposes a new approach for finding the width of a corridor within a constructed image frame that would keep a robot on a safe track away from walls.  ...  For many robotics and smart car applications it is vitally important to calculate the width.  ...  TESTS AND RESULTS Since the corridor width calculation algorithm is done by robot, and is only applicable in orderly indoor environments (corridors), so all the tests have done in these environments.  ... 
doi:10.5815/ijigsp.2012.12.07 fatcat:nh46tltz4nhpbe2qvohq7y23ha

Autonomous image-based exploration for mobile robot navigation

D. Santosh, Supreeth Achar, C. V. Jawahar
2008 2008 IEEE International Conference on Robotics and Automation  
The frontiers are detected using a geometric context-based segmentation scheme that exploits the natural scene structure in indoor environments.  ...  They were tested in indoor workspaces, including laboratory and corridor environments (See Fig. 5(b) ). Some of the results are demonstrated in the accompanying video.  ... 
doi:10.1109/robot.2008.4543622 dblp:conf/icra/SantoshAJ08 fatcat:ehfye67n5vccrf2hai3hoj4s3a

Process of Point Clouds Merging for Mapping of a Robot's Working Environment [chapter]

Petr Olivka, Michal Krumnikl, Pavel Moravec, David Seidl
2016 Lecture Notes in Computer Science  
This map can be segmented and further used for a navigation. In this way, it is also possible to map inaccessible and dangerous areas.  ...  The lidar is nowadays increasingly used in many robotic applications. Nevertheless the 3D lidars are still very expensive and their use on small robots is not economical.  ...  Merged point clouds represent whole environment and can be used after the segmentation as a source for the robot navigation and environment mapping.  ... 
doi:10.1007/978-3-319-45378-1_23 fatcat:7eyztaifznaydh4o6bcco3rpfa

The Application of Mobile Robots for Building Safety Control

Barbara Siemiatowska, Bogdan Harasymowicz-Boggio, Mateusz Wiśniowski
2016 Journal of Automation, Mobile Robotics & Intelligent Systems  
In order to act in the environment the mobile robot requires navigation module [5] .  ...  In this article we present a new possible application of an indoor mobile robot for safety control.  ... 
doi:10.14313/jamris_2-2016/11 fatcat:ytixhehc6bcqlosn5owqr4gah4

Approaches to Door Identification for Robot Navigation [chapter]

E. Jauregi, E. Lazkano, B. Sierr
2010 Mobile Robots Navigation  
., 1996) presents SAURO, a robotic autonomous system oriented to transportation tasks in indoor environments.  ...  Indoor semi-structured environments are full of corridors that connect different offices and laboratories where doors give access to many of those locations that are defined as goals for the robot.  ...  Approaches to Door Identification for Robot Navigation, Mobile Robots Navigation, Alejandra Barrera (Ed.), ISBN: 978-953-307-076-6, InTech, Available from:  ... 
doi:10.5772/8976 fatcat:u4f5iaczpvai5eg65v6zf6332e

Cost-effective Indoor Localization for Autonomous Robots using Kinect and WiFi Sensors

Raul Cesar Alves, Josué Silva de Morais, Keiji Yamanaka
2020 Inteligencia Artificial  
Also, in order to improve the localization quality, some approaches use expensive devices either mounted on the robots or attached to the environment that don't naturally belong to human environments.  ...  The WiFi PF gives the global location of the robot using signals of Access Point devices from different parts of the environment while it bounds particles of the Kinect PF, which determines the robot's  ...  The main difference is that their robots use graph representation for navigation and localization in the corridors of the buildings.  ... 
doi:10.4114/intartif.vol23iss65pp33-55 fatcat:rrqlu36x4vdspdnnikuf5snr7q

Research on Distance Transform and Neural Network Lidar Information Sampling Classification-Based Semantic Segmentation of 2D Indoor Room Maps

Tao Zheng, Zhizhao Duan, Jin Wang, Guodong Lu, Shengjie Li, Zhiyong Yu
2021 Sensors  
Semantic segmentation of room maps is an essential issue in mobile robots' execution of tasks.  ...  devices.  ...  Besides, one of the other main uses of indoor room semantic segmentation is automatized professional cleaning [3] . In this task, a sweeping robot need to clean the floor in indoor rooms.  ... 
doi:10.3390/s21041365 pmid:33671979 fatcat:6obxk3kwkjb47lpbm3nx6665om

Self-Localization of Mobile Robots Using a Single Catadioptric Camera with Line Feature Extraction

Huei-Yung Lin, Yuan-Chi Chung, Ming-Liang Wang
2021 Sensors  
This paper presents a novel self-localization technique for mobile robots using a central catadioptric camera.  ...  The experimental results obtained using the real scene images have demonstrated the feasibility of the proposed method for mobile robot localization applications.  ...  Figure 11 . 11 The indoor environment for robot navigation and image acquisition in our experiments.  ... 
doi:10.3390/s21144719 fatcat:3qzorkdbqnbznfd3mrt377vj4i

Indoor Localization Based on Infrared Angle of Arrival Sensor Network

Damir Arbula, Sandi Ljubic
2020 Sensors  
In this specific use case, a proof-of-concept navigation system was implemented with the following components: IR-AoA sensor prototype and the corresponding WSN used for cart localization, server-side  ...  These results show that, for the supermarket context, appropriate localization accuracy can be achieved, along with the real-time navigation support, using readily available IR technology with inexpensive  ...  would assist the end-user to navigate in the target indoor environment.  ... 
doi:10.3390/s20216278 pmid:33158151 pmcid:PMC7663400 fatcat:7ghihpifwnhdhkliosyqoviplq

Exploring the limits of PDR-based indoor localisation systems under realistic conditions

Robert Jackermeier, Bernd Ludwig
2018 Journal of Location Based Services  
correct segment of an indoor route, which in turn enables the navigation system to give correct instructions.  ...  For this purpose, we collect sensor data while the user performs an actual navigation task using a navigation application on a smartphone.  ...  Thrun, Burgard, and Fox 2005) and have been used successfully to locate robots in complex environments.  ... 
doi:10.1080/17489725.2018.1541330 fatcat:sasc4jlsvzdnhayx7t43xcke74


S. Nikoohemat, A. Diakité, S. Zlatanova, G. Vosselman
2019 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
</strong> Indoor navigation can be a tedious process in a complex and unknown environment.  ...  The approach is tested on several real buildings and relies on the latest advances in indoor navigation.</p>  ...  ACKNOWLEDGEMENTS This work is part of the TTW Maps4Society project Smart 3D indoor models to support crisis management in large public buildings (13742) which is (partly) financed by the Netherlands Organization  ... 
doi:10.5194/isprs-annals-iv-2-w5-285-2019 fatcat:ul7cjs4m7bcpdmgsv6nr2fftmq
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