The VIRGO experience: Research on Vision Based Robot Navigation

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Ge????? St???? ???sßas? (ep?s?e??µ?t?ta) t??
????se?? ?a? ???eµ?t?? st? e??? ????? ?a? se
e?d????? ?e?et?t??

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S?????? ??a?t??? ?p?t?p?a ?p?s?e?? st? ????
??d?af????t?? ???st?? t??p?? µe??t?? ?a?
ap??a?s?? t?? e??eµ?t??

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??e? ?e???????e? - ???at?t?te? ???e-ep?s?e??
µ?s? s?st?µ?t?? ????????? ??a?µat???t?ta?
p?e??e?t?µata a??? ?a? µe???e?t?µata

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??a ??te??? ??a ???s????s?
???e-ep?s?e?? µ?s? ??µp?t???? ??p??s?p??

?p?s?e?? ?a? ?a?at???s? t?? ??a?µat????
???es?a??? ?????
?? ???? ??e??a? ?a? ???pt???? TOURBOT
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?e?t????? St????
???e-pa???s?a se e??es?a???? ?????? µ?s?
??µp?t???? e?p??s?p??

?a?at???s? µ?s? t?? µat??? t?? ??µp?t ?a?
e?ap?st?se?? ??e???? t?? ??µp?t
Internet
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?as??? St???e?a

• ?p?µa???sµ???? e?p??s?p?? t?? ???st?
• ?as?sµ???? se ????t? ??µp?t??? s?st?µata,
  ef?d?asµ??a µe a?s??t??e? ?a? s??dedeµ??a µe t?
  d?ad??t??
• ?a???? e?????? p??? ap? t? d?ad??t??
• ??a?? ?a p???????ta? a?t???µa ?a? µe asf??e?a
• ?et?d?s? p???µes???? p????f???a? st? ???st?

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St????

• ???pt??? ??µp?t ?e?a??? µe d??at?t?ta ?a
  pa???e? e?at?µ??e?µ??? p??sßas? se e???µata p???
  ap? t? d?ad??t??
• ?e?t?????a ?? ? e?p??s?p?? t?? ???st? st??
  e??es?a?? ???? - ????s? ?a? pa?at???s? a?????a µe
  t? ß????s? t?? ???st?
• ?et?d?s? p???µes???? p????f???a? st? ???st?

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• S?????µat?d?t????e ap? t? ?????aµµa ?e???????e?
  t?? ???????a? ?????f????? t?? ????pa????
  ?????t?ta?
• ????p?????sµ?? 1.718.150
• 1,088,790 ?????t??? ???µat?d?t?s?
• 629.360 ???µat?d?t?s? ap? s?µµet????te? f??e??
• ?????e?a 2 ?t? (1/1/2000 - 31/12/2001)
• ?????p?a??a ?pt? ???a??sµ??

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?????p?a??a

• ?d??µa ?e???????a? ?a? ??e??a? (S??t???st??
  ?????p?a??a? / ?e?????????? F???a?)
• ?a?ep?st?µ?? Freiburg (?e?????????? F???a?)
• ?d??µa ?e?????? ??????sµ?? (??aµes??aß?t??
  ?e????????? / F???a? ???st??)
• ?a?ep?st?µ?? ?????? (?e?????????? F???a?)
• T?O? ??µp?t??? S?st?µata (?e?????????? F???a?)
• Ge?µa???? ???se?? ?????? (F???a? ???st??)
• ???a?t??? ?a? ???st?a???? ???se?? ?????? (F???a?
  ???st??)

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• ????t? ??µp?t??? S?st?µata
• ??t???µ? ??????s?
• ?p?µa???sµ??? ???sßas? ??e???? µ?s? ??ad??t???
• ??ap??s?pe?e? ???st?-S?st?µat??

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FORTH UNIBONN UNIFR
Environment
FHW UNIFR UNIBONN
Navigation SW
Sensors
Data Link
Mobile Platform
Platform bus
Processing Control Unit
On-site User
THEON
Wireless Link
System Administrator
Information and Data Base
Off-board Workstation
Internet Link
UNIBONN UNIFR MUSBON BYZMUS
Remote User
WWW
FHW UNIFR UNIBONN
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?????????s? ??ap??s?pe?a? / S?st?µat?? ??????s??
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? p??t? ????t??? ?fa?µ??? t?? TOURBOT ????e 28/5
- 2/6, 2001 st??? ???es?a???? ?????? t??
?d??µat?? ?e?????? ??????sµ?? Stat?st???
St???e?a 2000 ep?s???e?? ap? t? d?ad??t??
5-10 ???ste? a?? p?sa st??µ?

Network Traffic
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• ?p?de??t??e ? d??at?t?ta ????t?? ??µp?t ?a
  ?e?t?????s??? se p?a?µat????? e??es?a???? ??????
• ??a µe???a ??????? d?ast?µata
• µe p????? ep?s?ept??
• ??a?? a???µ? d??t?a??? ep?s?ept??
• ?e????t???? St???? pe???aµß?????
• ?e?t?????a se µ???µ? ß?s?
• ep??tas? se ?????? ?????? µe ?at?????e?
  pa?eµß?se?? st? s?st?µa
• ep??tas? d??at?t?t?? (chat, e??t?se??-apa?t?se??,
  s???µ???a d??t?a???-ep?t?p??? ???st??, ?a)

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