DocumentCode :
2550626
Title :
Appearance-based mobile robot navigation using omnidirectional camera
Author :
Zhang, Yingchun ; Cao, Juan ; Lou, Lu ; Su, Bohong
Author_Institution :
Coll. of Inf. Sci. & Eng., Chongqing Jiaotong Univ., Chongqing, China
fYear :
2012
fDate :
29-31 May 2012
Firstpage :
2357
Lastpage :
2361
Abstract :
Appearance-based robot navigation has long been a fundamental goal in both robotics and computer vision research. While the problem is largely solved for robots equipped with active range-finding devices, for a variety of reasons, the task still remains challenging for robots equipped only with vision sensors. This paper proposes a appearance-based navigation system utilizing information from omnidirectional images captured by an omnidirectional camera as a primary sensor. The robot is able to localize with reasonable accuracy despite no metric measurements from the images. Real experiments to guide a Pioneer 3-AT mobile robot in a dynamic environment are presented, and the analysis of the results allows us to validate the proposed behaviour based navigation strategy.
Keywords :
image sensors; mobile robots; path planning; robot vision; Pioneer 3-AT mobile robot; active range-finding devices; appearance-based mobile robot navigation; computer vision; omnidirectional camera; vision sensors; Cameras; Feature extraction; Mobile robots; Navigation; Robot vision systems; Visualization; Appearance-based; Navigation; Omnidirectional Images; SIFT(Scale Invariant Feature Transform); Topological map;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Fuzzy Systems and Knowledge Discovery (FSKD), 2012 9th International Conference on
Conference_Location :
Sichuan
Print_ISBN :
978-1-4673-0025-4
Type :
conf
DOI :
10.1109/FSKD.2012.6234224
Filename :
6234224
Link To Document :
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