Abstract:
This paper focuses on tracking failure avoidance during vision-based navigation to a desired goal in unknown environments. While using feature-based Visual Simultaneous L...Show MoreMetadata
Abstract:
This paper focuses on tracking failure avoidance during vision-based navigation to a desired goal in unknown environments. While using feature-based Visual Simultaneous Localization and Mapping (VSLAM), continuous identification and association of map points are required during motion. Thus, we discuss a motion planning framework that takes into account sensory constraints for a reliable navigation. We use information available in the SLAM and propose a data-driven approach to predict the number of map points associated in a given pose. Then, a distance-optimal path planner utilizes the model to constrain paths such that the number of associated map points in each pose is above a threshold. We also include an online mapping of the environment for collision avoidance. Overall, we propose an iterative motion planning framework that enables real-time replanning after the acquisition of more information. Experiments in two environments demonstrate the performance of the proposed framework.
Date of Conference: 21-25 May 2018
Date Added to IEEE Xplore: 13 September 2018
ISBN Information:
Electronic ISSN: 2577-087X
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Mobile Robot ,
- Robot Navigation ,
- Collision ,
- Path Planning ,
- Map Points ,
- Unknown Environment ,
- Simultaneous Localization And Mapping ,
- Environment Map ,
- Tracking Failure ,
- Field Of View ,
- Image Features ,
- Free Space ,
- Viewing Angle ,
- Configuration Space ,
- Free Cells ,
- Robot Operating System ,
- Feasible Path ,
- Camera Field ,
- Camera Field Of View ,
- Unexplored Regions ,
- Frontier Regions ,
- Ground Robots
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Mobile Robot ,
- Robot Navigation ,
- Collision ,
- Path Planning ,
- Map Points ,
- Unknown Environment ,
- Simultaneous Localization And Mapping ,
- Environment Map ,
- Tracking Failure ,
- Field Of View ,
- Image Features ,
- Free Space ,
- Viewing Angle ,
- Configuration Space ,
- Free Cells ,
- Robot Operating System ,
- Feasible Path ,
- Camera Field ,
- Camera Field Of View ,
- Unexplored Regions ,
- Frontier Regions ,
- Ground Robots