A high-level perception architecture: real-time visual navigation for autonomous robots in structured environments

• Autores: Pedro Enrique López de Teruel Alcolea
• Localización: Journal of Computer Science and Technology, ISSN-e 1666-6038, Vol. 3, Nº. 2, 2003 (Ejemplar dedicado a: Nineth Issue), págs. 69-69
• Idioma: inglés
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• Resumen

  • This thesis describes the design and implementation of a mobile robot which is able to perform a structural interpretation of indoor environments, using only visual and proprioceptive sensory information. The desired behaviour is real-time navigation based on this interpretation, instead of a reactive approach. The design is guided by a predictive criterion: the system must anticipate the consequences of its actions, showing a certain predictive understanding of the scene in which it moves.