Visually-Guided Robot Navigation: From Artificial To Natural Landmarks - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2007

Visually-Guided Robot Navigation: From Artificial To Natural Landmarks

Abstract

Landmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, we have decoupled the navigation issues from this visual bottleneck, by first using artificial landmarks that could be easily detected and identified. Once we had a navigation system working, we developed a strategy to detect and track salient regions along image streams by just performing on-line pixel sampling. This strategy continuously updates the mean and covariances of the salient regions, as well as creates, deletes and merges regions according to the sample flow. Regions detected as salient can be considered as potential landmarks to be used in the navigation task.
Fichier principal
Vignette du fichier
fsr_60.pdf (574.27 Ko) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

inria-00196177 , version 1 (12-12-2007)

Identifiers

  • HAL Id : inria-00196177 , version 1

Cite

Enric Celaya, Jose-Luis Albarral, Pablo Jiménez, Carme Torras. Visually-Guided Robot Navigation: From Artificial To Natural Landmarks. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00196177⟩

Collections

FSR2007
37 View
190 Download

Share

Gmail Mastodon Facebook X LinkedIn More