Journal Article

Omnidirectional Vision Based Topological Navigation

Tuytelaars, Tinne, Van Gool, Luc, Goedemé, Toon, Nuttin, Marnix

2007

Overview

Issue Title: Special Issue: Vision and Robotics -- Joint with The International Journal of Robotics Research Guest Editors: Greg Hager, Martial Hebert and Seth Hutchinson In this work we present a novel system for autonomous mobile robot navigation. With only an omnidirectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment. It can localise itself using such a map at each moment, including both at startup (kidnapped robot) or using knowledge of former localisations. The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. We developed a real-time visual servoing technique to steer the system along the computed path. A key technology making this all possible is the novel fast wide baseline feature matching, which yields an efficient description of the scene, with a focus on man-made environments.[PUBLICATION ABSTRACT]

• Publisher: Springer Nature B.V
• Subject: Robotics / Robots