Vision-based urban navigation procedures for verbally instructed robots

Theocharis Kyriacou, Guido Bugmann, Stanislao Lauria
2005 Robotics and Autonomous Systems  
Humans who explain a task to a robot, or to another human, use chunks of actions that are often complex procedures for robots. An instructable robot needs to be able to map such chunks to existing pre-programmed primitives. We investigate the nature of these chunks in an urban visual navigation context and describe the implementation of one of the primitives: "take the n th turn right/left". This implementation requires the use of a "short-lived" internal map updated as the robot moves along.
more » ... e recognition and localisation of intersections is done using task-guided template matching. This approach takes advantage of the content of human instructions to save computation time and improve robustness.
doi:10.1016/j.robot.2004.08.011 fatcat:lsw3qlddwjgcbdtroi3ulhw6aq