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Mobile Robot Exploration via Pseudo Range Model

Mobile Robot Exploration via Pseudo Range Model,10.1109/CNSI.2011.59,Ryun Seok Kim,Hyukdoo Choi,Euntai Kim,Chang-Woo Park

Mobile Robot Exploration via Pseudo Range Model  
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This paper presents an autonomous exploration system using a robot equipped with a vision sensor but no range sensor. The fully automatic exploration system operating on a mobile robot determines the next motion in the environment. We extract ceiling boundaries from images. Then we use the pseudo range model that converts the ceiling boundary to range information. This paper proposes the vision based exploration system and presents experimental results.
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