Analysis of adaptation and environment
Artificial Intelligence - Special volume on computational research on interaction and agency, part 2
A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
Uncalibrated obstacle detection using normal flow
Machine Vision and Applications
Biologically inspired approaches to robotics: what can we learn from insects?
Communications of the ACM
Constraint, optimization, and hierarchy: reviewing stereoscopic correspondence of complex features
Computer Vision and Image Understanding
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Modeling the ground plane transformation for real-time obstacle detection
Computer Vision and Image Understanding
Obstacle Detection Based on Qualitative and Quantitative 3D Reconstruction
IEEE Transactions on Pattern Analysis and Machine Intelligence
Techniques for Autonomous, Off-Road Navigation
IEEE Intelligent Systems
Visual Detection of Obstacles Assuming a Locally Planar Ground
ACCV '98 Proceedings of the Third Asian Conference on Computer Vision-Volume II
A Specialized Multibaseline Stereo Technique for Obstacle Detection
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Real-Time 2-D Feature Detection on a Reconfigurable Computer
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Weakly-calibrated stereo perception for rover navigation
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Active Appearance-Based Robot Localization Using Stereo Vision
Autonomous Robots
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A six-legged robot system demonstrating reactive behaviors of simple organisms—walking between two walls, steering around obstacles, making turns at corners, and making U-turns at pathway dead-ends—is described. The system, named VisionBug, uses no active range sensor but only a stereo pair of cameras for sensing the surroundings. The system assumes the surroundings to be consisting of mostly a ground surface, although the surface could have a varying geometric relationship with the robot due to the jiggling nature of legged motion. By the use of the image-to-image mapping induced to the stereo images by the ground surface, the system is able to avoid explicit 3D reconstruction and the use of optical flow altogether in locating through-ways. Specifically, it regards image features not respecting the ground-induced mapping as obstacles, and express the obstacles in terms of a 2D distribution on the ground. Based on the distribution information, which is further time-delay compensated, a simple fuzzy control mechanism is used to command the legged motion. Experiments show that the system is effective for demonstrating the above-mentioned behaviors in textured environment, at a speed fast enough for many applications.