Robot navigation using 1D panoramic images

被引：8

作者：

Briggs, Amy ^{[1
]}

Li, Yunpeng ^{[2
]}

Scharstein, Daniel ^{[1
]}

Wilder, Matt

机构：

[1] Middlebury Coll, Dept Comp Sci, Middlebury, VT 05753 USA

[2] Cornell Univ, Ithaca, NY 14853 USA

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/ROBOT.2006.1642106

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new method for navigation and localization of a mobile robot equipped with an omnidirectional camera. We represent the environment using a collection of one-dimensional panorantic images formed by averaging the center scanlines of a cylindrical view. Such 1D images can be stored and processed with few resources, allowing a fairly dense sampling of the environment. Image matching proceeds in real time using dynamic programming on scale-invariant features extracted from each circular view. By analyzing the shape of the matching curve, the relative orientation of pairs of views can be recovered and utilized for navigation. When navigating, the robot continually matches its current view against stored reference views taken from known locations, and determines its location and heading from the properties of the matching results. Experiments show that our method is robust to occlusion, repeating patterns, and lighting variations.

引用

页码：2679 / +

页数：2

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