DocumentCode :
3180760
Title :
Landmark Selection for Task-Oriented Navigation
Author :
Lerner, Ronen ; Rivlin, Ehud ; Shimshoni, Ilan
Author_Institution :
Dept. of Comput. Sci., Technion-Israel Inst. of Technol., Haifa
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
2785
Lastpage :
2791
Abstract :
Many vision-based navigation systems are restricted to use only a limited number of landmarks when computing the camera pose. This limitation is due to the overhead of detecting and tracking these landmarks along the image sequence. A new algorithm is proposed for subset selection from the available landmarks. This algorithm searches for the subset that yields minimal uncertainty for the obtained pose parameters. Navigation tasks have different types of goals: moving along a path, photographing an object for a long period of time etc. The significance of the various pose parameters differs for different navigation tasks. Therefore, a requirements matrix is constructed from a supplied severity function, which defines the relative importance of each parameter. This knowledge can then be used to search for the subset that minimizes the uncertainty of the important parameters, possibly at the cost of greater uncertainty in others. It is shown that the task-oriented landmark selection problem can be defined as an integer-programming problem for which a very good approximation can be obtained. The problem is then translated into a semi-definite programming representation which can be rapidly solved. The feasibility and performance of the proposed algorithm is studied through simulations and lab experimentation
Keywords :
image sequences; integer programming; path planning; pose estimation; robot vision; image sequence; integer-programming; landmark selection; semi-definite programming; task-oriented navigation; vision-based navigation systems; Cameras; Computer science; Computer vision; Intelligent robots; Navigation; Remotely operated vehicles; Spatial databases; Tracking; Uncertainty; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
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
Type :
conf
DOI :
10.1109/IROS.2006.282060
Filename :
4058814
Link To Document :
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