A Framework for Scalable Vision-Only Navigation (CROSBI ID 528990)
Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Šegvić, Siniša ; Remazeilles, Anthony ; Diosi, Albert ; Chaumette, François
engleski
A Framework for Scalable Vision-Only Navigation
Abstract. This paper presents a monocular vision framework enabling feature-oriented appearance-based navigation in large outdoor environ- ments containing other moving objects. The framework is based on a hybrid topological-geometrical environment representation, constructed from a learning sequence acquired during a robot motion under hu- man control. The framework achieves the desired navigation functional- ity without requiring a global geometrical consistency of the underlying environment representation. The main advantages with respect to con- ventional alternatives are unlimited scalability, real-time mapping and effortless dealing with interconnected environments once the loops have been properly detected. The framework has been validated in demanding, cluttered and interconnected environments, under different imaging con- ditions. The experiments have been performed on many long sequences acquired from moving cars, as well as in real-time large-scale navigation trials relying exclusively on a single perspective camera. The obtained results imply that a globally consistent geometric environment model is not mandatory for successful vision-based outdoor navigation.
Autonomous navigation
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Podaci o prilogu
1-12-x.
2007.
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objavljeno
Podaci o matičnoj publikaciji
Lecture notes in computer science
Jacques Blanc-Talon, Wilfried Philips, Dan Popescu, Paul Scheunders
Berlin: Springer
x
0302-9743
Podaci o skupu
Advanced Concepts for Intelligent Vision Systems
predavanje
28.08.2007-31.08.2007
Delft, Nizozemska