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The authors have been developing an outdoor mobile robot intended to provide increased traveling distance by autonomously negotiating and crossing a road crossing intersection while traveling along pedestrian sidewalks in an urban environment. In this paper, high precision navigation towards a pedestrian push-button box by a mobile robot for the autonomous activation of the button is presented. We...
We propose a visual recognition system for robotic applications in which distance to the visual objects can change a lot (for instance, trying to recognize a distant object learned from a short distance). Our system takes advantage of a single pan-tilt camera controllable in zoom and focus. Focus control allows to detect plans of sharpness in the scene and indirectly to compute a distance. Hence,...
Visual odometry is a new navigation technology using video data. For long-range navigation, an intrinsic problem of visual odometry is the appearance of drift. The drift is caused by error accumulation, as visual odometry is based on relative measurements, and will grow unboundedly with time. The paper first reviews algorithms which adopt various methods to suppress this drift. However, as far as...
The scene map building is the key of robot navigation. This paper proposes the principle of projection of virtual height line (PVHL) and its application in the scene map building. At first partition the scene scope uniformly into grids. Then introduce virtual height lines (VHLs) which do not exist in the scene. Each VHL is projected into left image and right image, and two projection lines are generated...
This paper presents a vision-based navigation strategy for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) using a single embedded camera observing natural landmarks. In the proposed approach, images of the environment are first sampled and stored as a set of ordered key images (visual path) and organized providing a visual memory of the environment. The robot navigation task...
In this paper we propose a new algorithm for relative pose estimation between two images based on a new decomposition for an homography matrix faster than the classical solutions. We introduce in our method approximate information about the planes in the reference images but this additional information allows the decomposition to avoid the multiplicity of solutions. An exhaustive analysis of the error...
Robots in remote environments (e.g., emergency response) have many potential benefits and affordances, with imagery (or video) being a major, if not primary, affordance. However, remote imagery is usually affected by the keyhole effect, or viewing the world through a ??soda straw.?? This work focuses on reducing the keyhole effect by improving the viewing angle of the imagery using a novel method...
This paper presents results from experiments on visual stereo matching for robot navigation. Visual features are stereo paired with respect to their pixel position. Stereo triangulating all paired visual features results in a set of landmarks whereof a subset are true landmarks. Constraining the horizontal disparity limits the amount of spurious matches. The stereo matching is validated by finding...
In the autonomous city explorer (ACE) project a mobile robot is developed, which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the Marienplatz, a public place in the center of Munich, without any prior knowledge or GPS information. Inspired by the behavior of humans in unknown environments, ACE must...
An autonomous robot finds applications in process industries to perform control operations such as manipulation of valves, especially in hazardous environments. This would require localization and mapping capabilities for efficient navigation, coupled with a dexterous arm for manipulation of the valves. Dynamic path planning and obstacle avoidance are the necessary requirements for autonomous navigation...
We describe a navigation and coverage system based on unsupervised learning driven by visual input. Our objective is to allow a robot to remain continuously moving above a terrain of interest using visual feedback to avoid leaving this region. As a particular application domain, we are interested in doing this in open water, but the approach makes few domain-specific assumptions. Specifically, our...
This paper describes a an SLAM algorithm for the navigation for an indoor autonomous mobile robot. The main emphasis of this paper is on the ability of line extraction. A recognition method based on straight line extraction is proposed for extracting the key features on the office ceiling, in an effort to estimate the pose of mobile robot. Random sample consensus (RANSAC) paradigm is used to group...
Binocular Stereo vision system has been actively used for real time obstacle avoidance in autonomous mobile robotics for the last century. The computation of free space is one of the essential tasks in this field. This paper describes algorithm for obstacle avoidance for mobile robots which can navigate through obstacle. While most of the paper based on stereo vision works on the disparity image but...
Landmark recognition is identified as one important research area in robot navigation systems. It is a key feature for building robots capable of navigating and performing tasks in human environments. However, current object recognition research largely ignores the problems that the mobile robot context introduces. We developed a landmark recognition system which is used by a humanoid robot to identify...
While most mobile robots possess the ability to navigate to and from given locations, for a robot to truly perform guidance, human awareness is also needed. Our guidance robot system possesses both, using a wireless sensor network for navigation and a vision-based tracking system for human awareness. We use the network to create a virtual directional field for the robot. As the network is ad-hoc and...
In this paper, we present a complete framework for autonomous indoor robot navigation. We show that autonomous navigation is possible in indoor situation using a single camera and natural landmarks. When navigating in an unknown environment for the first time, a natural behavior consists on memorizing some key views along the performed path, in order to use these references as checkpoints for a future...
During last years, robotic research has explored Human-Robot interactions especially for the challenge of the robot companion. This type of robot would be equipped with perception, motion, and manipulation among other skills, to be help humans in daily tasks. Guidance is one of the tasks that the robot companion must perform. This paper describes Robbie, a wheeled robot companion uses for guiding...
The use of autonomous underwater vehicles (AUVs) for visual inspection tasks is a promising robotic field. The images captured by the robots can also aid in their localization/navigation. In this context, this paper proposes an approach to localization and mapping problem of underwater vehicle. Supposing the use of inspection cameras, this proposal is composed of two stages: i) the use of computer...
Monocular vision based navigation method has the merits of simple computation and cheap hardware and is promising to realize real time navigation. A monocular vision based navigation method for a mobile robot moving in unknown environment is presented in the paper. By a special installation of a monocular camera on the top of a mobile robot, the method can realize the obstacle detection, distance...
In robotics, vertical lines have been always very useful for autonomous robot localization and navigation in structured environments. This paper presents a robust method for matching vertical lines in omnidirectional images. Matching robustness is achieved by creating a descriptor which is very distinctive and is invariant to rotation and slight changes of illumination. We characterize the performance...
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