Navigation and Route Representation based on View Sequence

“视图序列”是移动机器人的摄像头沿路线拍摄的视图序列。在这项研究中，我们开发了一个表示路线的模型和一种基于视图序列的实时导航方法。本文的研究成果可归纳为以下三点：(1)基于视图序列的路径表示方法的开发在人的教学过程中，机器人自动进行顺序视图。通过平滑和压缩图像，使用视图序列的路由表示变得紧凑。这种表示方法易于获取，适合于表示非结构化室内环境中的路线。(2)基于视点匹配的识别方法的发展基于图像的相关性进行视点匹配。结果，垂直和水平位移以及两视图之间的变形，从而识别机器人的位置和障碍物的存在。(3)引导机器人沿路线的研究进展根据匹配结果确定机器人的动作和控制值（转向角和速度）。利用上述方法实现了基于视图序列的自主导航。

"View Sequence" is a sequence of views taken by the camera of the mobile robot along a route. In this research, we developed a model for representing a route and a method for real-time navigation based on the view sequence. The results of the research are summarized in following three points :(1) Development of a route representation based on view sequenceIn the teaching run by a human, the robot automatically takes sequential views. By smooting and shrinking the image, the route representation using view swquence becomes compact. This representation is easy to aquire and suitable for representing a route in the unstructured indoor environment.(2) Development of the recognition method based on the matching of the viewsThe matching of views is performed based on correlation of the images. As the results, the vertical and horizontal displacement and the distortion between two views, and consequently the position of the robot and the presence of obstacles are recognized.(3) Development of guiding a robot along a routeThe action of the robot and the control values (steering angle and speed) are determined using the result of matching. The autonomous navigation based on the view sequence is realized using the methods described above.