Object Search and Localization for an Indoor Mobile Robot
Object Search and Localization for an Indoor Mobile Robot
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DOI：
10.2498/cit.1001182
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发表时间：
2009-03
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通讯作者：
D. Kragic
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文献类型：
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作者：
D. Kragic
在本文中，我们提出了一种使用具有变焦功能的单目摄像机的移动机器人来搜索和定位目标的方法。我们展示了如何利用注意机制和缩放的组合作为识别过程的第一步来克服低分辨率图像在目标识别中的局限性。注意机制基于感受场共生直方图和基于SIFT特征匹配的目标识别。我们提出了两种估计到目标的距离的方法，该距离既是变焦控制的输入，也是最终目标定位的输入。通过在真实环境中的大量实验，我们突出了这两种方法的优点和缺点。为了评估该方法的有效性，我们还提供了一个集成系统的实验结果，在该系统中，基于视图规划生成全局传感计划，以使摄像机在每个房间的基础上覆盖空间。
In this paper we present a method for search and localization of objects with a mobile robot using a monocular camera with zoom capabilities. We show how to overcome the limitations of low resolution images in object recognition by utilizing a combination of an attention mechanism and zooming as the first steps in the recognition process. The attention mechanism is based on receptive field cooccurrence histograms and the object recognition on SIFT feature matching. We present two methods for estimating the distance to the objects which serve both as the input to the control of the zoom and the final object localization. Through extensive experiments in a realistic environment, we highlight the strengths and weaknesses of both methods. To evaluate the usefulness of the method we also present results from experiments with an integrated system where a global sensing plan is generated based on view planning to let the camera cover the space on a per room basis.