%0 Journal Article %1 Ackerman_Itti05tro %A Ackerman, C. %A Itti, L. %D 2005 %J IEEE Transactions on Robotics %K Fourier a autonomous following gist navigation of path robot scene transform vision | %N 2 %P 247-251 %T Robot Steering With Spectral Image Information %V 21 %X We introduce a method for rapidly classifying visual scenes, globally along a small number of navigationally relevant dimensions: depth of scene, presence of obstacles, path vs. non-path, and orientation of path. We show that the algorithm reliably classifies scenes in terms of these high-level features, based on global or coarsely localized spectral analysis analogous to early-stage biological vision. We use this analysis to implement a real-time visual navigational system on a mobile robot, trained online by a human operator. We demonstrate successful training and subsequent autonomous path following for two different out-door environments, a running track and a concrete trail. Our success with this technique suggests a general applicability to autonomous robot navigation in a variety of environments.

@article{Ackerman_Itti05tro, abstract = {We introduce a method for rapidly classifying visual scenes, globally along a small number of navigationally relevant dimensions: depth of scene, presence of obstacles, path vs. non-path, and orientation of path. We show that the algorithm reliably classifies scenes in terms of these high-level features, based on global or coarsely localized spectral analysis analogous to early-stage biological vision. We use this analysis to implement a real-time visual navigational system on a mobile robot, trained online by a human operator. We demonstrate successful training and subsequent autonomous path following for two different out-door environments, a running track and a concrete trail. Our success with this technique suggests a general applicability to autonomous robot navigation in a variety of environments.}, added-at = {2007-12-04T05:18:34.000+0100}, author = {Ackerman, C. and Itti, L.}, biburl = {https://www.bibsonomy.org/bibtex/2195dcb19b7ce366bd3cd22d0b5945780/lm77}, description = {Dissertation}, file = {http://ilab.usc.edu/publications/doc/Ackerman_Itti05tro.pdf}, interhash = {9f9c94c4898fae4445dfcd3bdba6625a}, intrahash = {195dcb19b7ce366bd3cd22d0b5945780}, journal = {IEEE Transactions on Robotics}, keywords = {Fourier a autonomous following gist navigation of path robot scene transform vision |}, month = Apr, number = 2, pages = {247-251}, timestamp = {2007-12-04T05:18:35.000+0100}, title = {Robot Steering With Spectral Image Information}, type = {bb | cv | sc}, volume = 21, year = 2005 }