View-based navigation using an omniview sequence in a corridor environment
View-based navigation using an omniview sequence in a corridor environment
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在走廊环境中使用全视图序列进行基于视图的导航
DOI：
10.1007/s00138-002-0104-z
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发表时间：
2003
影响因子：
3.3
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
Y. Matsumoto;M. Inaba;H. Inoue
基于视图和外观的方法最近引起了计算机视觉研究人员的兴趣。我们已经提出了一种基于视觉视图的导航方法，使用称为“视图序列”的路线模型，其中包含沿记录运行中记忆的路线的一系列前视图。在本文中，我们首先将全向视觉传感器应用于基于视图的导航方法，并提出了一种称为“全视序列”的路线扩展模型。其次，我们提出了一个名为“视图序列地图”的地图，它代表了建筑物中的整个走廊环境。还描述了一种基于使用立体和全向视觉的走廊探索来自动获取视图排序地图的方法。最后给出了自主导航和地图采集的实验结果，证明了所提方法的可行性。
View- and appearance-based approaches have recently been attracting the interest of those involved in computer vision research. We have already proposed a visual view-based navigation method using a model of the route called the ”view sequence,” which contains a sequence of front views along a route memorized in the recording run. In this paper, we firstly apply the omnidirectional vision sensor to our view-based navigation method and propose an extended model of a route called the ”omniview sequence.” Secondly we propose a map named the ”view-sequenced map” which represents an entire corridor environment in a building. A method for the automatic acquisition of a view-sequenced map based on the exploration in a corridor using both stereo and omnidirectional vision is also described. Finally experimental results of the autonomous navigation and the map acquisition are presented to show the feasibility of the proposed methods.