Feature matching in 360° waveforms for robot navigation
Zhang, Z.
Weiss, R.
Riseman, E.M.
Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA;
Abstract
A target location is represented by compressing a 360° image
from a spherical mirror into a circular waveform. Navigation tasks are
specified as a sequence of homing tasks on target locations. This is
accomplished by matching landmarks from the current view with the next
target view. A method is provided for matching using qualitative
geometric features of each of the waveforms. In addition, a geometric
analysis allows one to do 3-D reasoning about the environment, which is
sufficient for computing the rotation and translation between the
current location and the target location. It eventually may allow
acquisition of a 3-D model of the environment
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