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Appearance-based mobile robot navigation using omnidirectional camera

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4 Author(s)
Yingchun Zhang ; Coll. of Inf. Sci. & Eng., Chongqing Jiaotong Univ., Chongqing, China ; Juan Cao ; Lu Lou ; Bohong Su

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.

Published in:

Fuzzy Systems and Knowledge Discovery (FSKD), 2012 9th International Conference on

Date of Conference:

29-31 May 2012