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Autonomous Navigation using Active Perception

Per-Erik Forssén
September 2001


This report starts with an introduction to the concepts active perception, reactive systems, and state dependency, and to fundamental aspects of perception such as the perceptual aliasing problem, and the number-of-percepts vs. number-of-states trade-off. We then introduce finite state machines, and extend them to accommodate active perception. Finally we demonstrate a state-transition mechanism that is applicable to autonomous navigation.

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Bibtex entry

  author = 	 {Per-Erik Forss\'en},
  title = 	 {Autonomous Navigation using Active Perception},
  institution =  {Dept. EE, Link\"oping University},
  year = 	 {2001},
  number = 	 {LiTH-ISY-R-2395},
  address =	 {SE-581 83 Link\"oping, Sweden},
  month = 	 {September}

Per-Erik Forssén

Per-Erik Forssén


Computer Vision Laboratory
Department of Electrical Engineering
Building B
Room 2D:521
SE-581 83 Linköping, Sweden
+46(0)13 285654

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