Accession Number : ADA308472

Title :   Vision Based Autonomous Robot Navigation: Motion Segmentation,

Corporate Author : NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA

Personal Author(s) : Blackburn, Michael R. ; Nguyen, Hoa G.

PDF Url : ADA308472

Report Date : APR 1996

Pagination or Media Count : 11

Abstract : The ability to acquire and respond appropriately to targets or obstacles. moving or stationary, while underway, is critical for all unmanned mobile robot applications. This is achieved by most animate systems, but has proven difficult for artificial systems. We propose that efficient and extensible solutions to the target acquisition, discrimination, and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed by biological systems. In nature. visual motion provides the basis for these functions. Because visual motion can be due either to target motion or to platform motion, a method of motion segmentation must be found. We present a solution to this problem that emulates natural strategies, and describe its implementation in an autonomous visually controlled mobile robot.

Descriptors :   *ALGORITHMS, *ROBOTS, *AUTONOMOUS NAVIGATION, MAINTENANCE, STRATEGY, BIOLOGY, TARGET ACQUISITION, MOTION, MOVING TARGETS, THREE DIMENSIONAL, PLATFORMS, UNMANNED, VISION, TARGET DETECTION, SEGMENTED.

Subject Categories : Cybernetics
      Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE