This monograph is devoted to the theory and development of
autonomous navigation of mobile robots using computer vision based
sensing mechanism. The conventional robot navigation systems,
utilizing traditional sensors like ultrasonic, IR, GPS, laser
sensors etc., suffer several drawbacks related to either the
physical limitations of the sensor or incur high cost. Vision
sensing has emerged as a popular alternative where cameras can be
used to reduce the overall cost, maintaining high degree of
intelligence, flexibility and robustness.
This book includes a detailed description of several new
approaches for real life vision based autonomous navigation
algorithms and SLAM. It presents the concept of how subgoal based
goal-driven navigation can be carried out using vision sensing. The
development concept of vision based robots for path/line tracking
using fuzzy logic is presented, as well as how a low-cost robot can
be indigenously developed in the laboratory with microcontroller
based sensor systems. The book describes successful implementation
of integration of low-cost, external peripherals, with
off-the-shelf procured robots. An important highlight of the book
is that it presents a detailed, step-by-step sample demonstration
of how vision-based navigation modules can be actually implemented
in real life, under 32-bit Windows environment. The book also
discusses the concept of implementing vision based SLAM employing a
two camera based system.
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