Omnidirectional vision based topological navigation
Omnidirectional vision based topological navigation
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DOI：
10.1007/s11263-006-0025-9
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发表时间：
2007-09-01
影响因子：
19.5
通讯作者：
Van Gool, Luc
中科院分区：
文献类型：
--
作者：
Goedeme, Toon;Nuttin, Marnix;Van Gool, Luc
在这项工作中，我们提出了一种新的自主移动机器人导航系统。该系统仅使用一个全向相机作为传感器，就能够自动地、鲁棒地、准确地构建复杂自然环境的拓扑组织环境图。它可以在任何时刻使用这样的地图来定位自己，包括在启动时（被绑架的机器人）或使用以前的定位知识。地图的拓扑性质类似于人类使用的直观地图，具有内存效率，并且能够快速而简单地规划通往指定目标的路径。我们开发了一种实时视觉伺服技术来引导系统沿着计算路径。使这一切成为可能的一项关键技术是新颖的快速宽基线特征匹配，它产生了对场景的有效描述，重点是人造环境。
In this work we present a novel system for autonomous mobile robot navigation. With only an omnidirectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment. It can localise itself using such a map at each moment, including both at startup (kidnapped robot) or using knowledge of former localisations. The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. We developed a real-time visual servoing technique to steer the system along the computed path.A key technology making this all possible is the novel fast wide baseline feature matching, which yields an efficient description of the scene, with a focus on man-made environments.