Title :
Simple yet Effective Visuo-Spatial Topological Mapping
Author :
Rawlinson, David ; Jarvis, Ray
Author_Institution :
PIMCE/IRRC, Monash Univ., Melbourne, Vic.
Abstract :
We describe a hybrid visuo-spatial topological approach in which global visual localization is triggered at junctions detected in a novel egocentric spatial approximation of the generalized Voronoi diagram. Transited vertices of this GVD are shown empirically to be useful and robust topological features. Visual vertex discrimination is performed without spatial cues, ameliorating junction ambiguity. Several large-scale trials are reported demonstrating fully autonomous exploration and mapping in mixed indoor/outdoor environments
Keywords :
computational geometry; mobile robots; path planning; visual servoing; autonomous robot exploration; egocentric spatial approximation; generalized Voronoi diagram; global visual localization; visuo-spatial topological mapping; Hybrid junctions; Indoor environments; Intelligent robots; Large-scale systems; Navigation; Orbital robotics; Path planning; Robot sensing systems; Robustness; Sensor phenomena and characterization; Hybrid; Mapping; Topological; Vision; Voronoi;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282004
