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This article introduces the development of a fast 3D active vision system, and a new concept based on space decomposition into virtual planes to support 3D real time obstacle detection during the navigation mission of autonomous mobile robots. This system uses the richness and the strength of the vision while reducing the data load, and computational cost by encoding coarsely the working space using...
Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents...
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