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Institute for Robotics and Intelligent Machines (IRIM)

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Author: Vaughn, David L. × End date: 1989 × Start date: 1980 × search.filters.applied.f.isOrgUnitOfPublicationTitle: Mobile Robot Laboratory ×

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Workstation Recognition Using a Constrained Edge Based Hough Transform for Mobile Robot Navigation

1989 , Arkin, Ronald C. , Vaughn, David L.

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.

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