Vision-based Pirouettes using the Radial Obstacle Profile

Abstract

Mapping algorithms commonly use “radial sweeps” of the surrounding environment as input. Producing a sweep is a challenging task for a robot using only vision. With no odometers to measure turn angles, a vision-based robot must have another method to verify rotations. In this paper we propose using the Radial Obstacle Profile (ROP) which gives the radial… (More)

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