Visibility techniques applied to robotics

Morini, Emiliano; Rocchi, Fabrizio; Avizzano, Carlo Alberto; Bergamasco, Massimo

doi:10.1109/roman.2010.5598684

Cited by 2 publications

(1 citation statement)

References 12 publications

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“…Computational methods for visibility have several similarities to those developed for navigation. First, visibility methods are applied in many of the same domains, including video games (Cohen-Or et al, 2003), robotics (Morini et al, 2010), and architectural design (Turner et al, 2001;Nagy et al, 2017). They are also formulated in a similar way, with analytic or grid-based representations of obstacles in a 2D or 3D spatial environment.…”

Section: Grid-based Visibilitymentioning

confidence: 99%

Path Counting for Grid-Based Navigation

Goldstein

Walmsley

Bibliowicz

et al. 2022

jair

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Counting the number of shortest paths on a grid is a simple procedure with close ties to Pascal’s triangle. We show how path counting can be used to select relatively direct grid paths for AI-related applications involving navigation through spatial environments. Typical implementations of Dijkstra’s algorithm and A* prioritize grid moves in an arbitrary manner, producing paths which stray conspicuously far from line-of-sight trajectories. We find that by counting the number of paths which traverse each vertex, then selecting the vertices with the highest counts, one obtains a path that is reasonably direct in practice and can be improved by refining the grid resolution. Central Dijkstra and Central A* are introduced as the basic methods for computing these central grid paths. Theoretical analysis reveals that the proposed grid-based navigation approach is related to an existing grid-based visibility approach, and establishes that central grid paths converge on clear sightlines as the grid spacing approaches zero. A more general property, that central paths converge on direct paths, is formulated as a conjecture.

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Section: Grid-based Visibilitymentioning

confidence: 99%

Path Counting for Grid-Based Navigation

Goldstein

Walmsley

Bibliowicz

et al. 2022

jair

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Visibility Sensor with Stereo Infrared Light Sources for Mobile Robot Motion Estimation

이민영¹,

이수용²

2011

Journal of Institute of Control, Robotics and Systems

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This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera. Visibility is being applied to robotic obstacle avoidance path planning and localization. Using simple visibility computation, the environment is partitioned into many visibility sectors. Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization. Geometric modeling of the vision system enables the estimation of the characteristic pixel position with respect to the robot movement. Finite difference analysis is used for incremental movement and the error sources are investigated. With two characteristic points in the image such as vertices, the robot position and orientation are successfully estimated.

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Visibility techniques applied to robotics

Cited by 2 publications

References 12 publications

Path Counting for Grid-Based Navigation

Path Counting for Grid-Based Navigation

Visibility Sensor with Stereo Infrared Light Sources for Mobile Robot Motion Estimation

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