Workstation recognition using a constrained edge-based Hough transform for mobile robot navigation

David L. Vaughn; Ronald C. Arkin

doi:10.1117/12.25290

1 April 1991 Workstation recognition using a constrained edge-based Hough transform for mobile robot navigation

David L. Vaughn, Ronald C. Arkin

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25290
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This algorithm deals with the uncertainty inherent in a mobile robot by making use of a spatial uncertainty map maintained by the robot. Several iterations of the Hough transform are run with transformed models of the dock. Votes are accumulated in a collapsed Hough space which, although unable to recover range and orientation information, simplifies locating the dock within the image.

Citation Download Citation

David L. Vaughn and Ronald C. Arkin "Workstation recognition using a constrained edge-based Hough transform for mobile robot navigation", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25290

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