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This paper presents a new method for distributed vision-aided cooperative localization and navigation for multiple autonomous platforms based on constraints stemming from the three-view geometry of a general scene. Each platform is assumed to be equipped with a standard inertial navigation system and an on-board, possibly gimbaled, camera. The platforms are also assumed to be capable of intercommunicating...
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...
Autonomous mobile robot navigation is a very relevant problem in robotics research. This paper proposes a vision-based autonomous navigation system using artificial neural networks (ANN) and finite state machines (FSM). In the first step, ANNs are used to process the image frames taken from the robot's camera, classifying the space, resulting in navigable or non-navigable areas (image road segmentation)...
We address the problem of vehicle (mobile robot) navigation by combining visual-based reconstruction and localization with metrical information given by the proprioceptive sensors such as the odometry sensor. The proposed approach extends the navigation system based on a monocular vision which is able to build a map and localize the vehicle in the real time way using only one camera. An extended Kalman...
The purpose of this research is to construct a system that can navigate arm robot adopting Kukanchi (Interactive Human-Space Design and Intelligence). This system gets ID and place of objects on work area form database that lumps information of objects in the intelligent space. The database is built up by sensors that implanted in several places. And then, this system generates object position map...
Location is one of the key technologies in autonomous mobile robot navigation and it is the fundament of the route plan and avoidance obstacle of mobile robot. The paper is concerned with the problem of determining the position of the mobile robots by vision. A kind of infrared landmark was designed, the system software based on Visual C++6.0 and OpenCV was build, and a location system for mobile...
Navigation is important both for insects to perform living tasks and robots to perform assigned tasks. We propose a CMOS image sensor for autonomous agent navigation which mimicks the navigational patterns of insects using the variations in the degree of skylight polarization. The polarization pattern of the skylight varies in a systematic way both in the plane (e-vector) and the degree of polarization...
In this paper, a review of visual guidance systemsof autonomous vehicle is presented. The challenges of autonomous navigation in rainforest or tropical terrain are highlighted. There are several methods used in navigation system of the autonomous vehicle and it is shown that vision system remains a key-enabling component for successful navigation system. Color feature is used to examine the general...
In this paper we will use stereo camera for 3D modeling of object in indoor environment. For mobile robot, navigation is a very important research area. Stereo vision can provide many information of the environment, and with these information robot can perform high level task. With our stereo vision system, firstly, we get disparity map from frames captured by the stereo camera. Then we extract the...
The Unmanned Ground Vehicle (UGV) is a robot that uses all sorts of sensors to recognize the external environment and acts voluntarily on its own, based on its judgments of the environment. It consists of the navigation system, vehicle control system, arbiter system and the obstacle detecting system. For the UGV to run safely, it is utterly important to have a correct understanding of the Current...
A method for global map building from occupancy grids is presented in this paper. Occupancy grids provide a low-level representation of the environment, suitable for autonomous navigation tasks, in urban driving scenarios. The occupancy grids used in our approach are computed with a method that outputs an occupancy grid with three distinct cell types: road, traffic isles and obstacles. First, we perform...
The last decade has witnessed the establishment of image processing as a viable means of aiding underwater navigation. However, many such systems are only implemented in pre-processing and offline due to their excessive computational demands. Real-time techniques often require special purpose hardware or impose limitations on the system to obtain real-time performance at the expense of accuracy. The...
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...
Personalized localization, navigation and navigation assistance are key issues for almost all aspects of future mobility. We use therefore the SegIT transporter, a new mobile platform based on a Segway Personal Transporter. It is equipped with an onboard video, time-of-flight image and navigation data processing system providing safety and comfort assistance during indoor and outdoor usage. The SegIT...
This paper describes the path planning for the mobile robots, based on the Markov decision problems and the detection of dynamic objects using stereo-vision. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological...
In our project on the autonomous guidance of micro-air vehicles (MAVs) in confined indoor and outdoor environments, we have combined an insect vision-based autopilot with a directional sound sensor, with which a miniature hovercraft reaches a sound source along a corridor by automatically controlling its speed, its clearance from the walls and its body yaw. A hovercraft is an air vehicle endowed with...
Motivated by the results of behavioral studies performed on bees over the last two decades, we have attempted to decipher the logics behind the beepsilas autopilot, with specific reference to their use of optic flow (OF). Using computer-simulation experiments, we developed a vision-based autopilot that enables a ldquosimulated beerdquo to travel along a tunnel by controlling both its speed and its...
Navigation is a broad topic that has been receiving considerable attention from the mobile robotics community. The ability to move safely in the environment is a fundamental capability for most applications. Most previous work on this subject is focused on obstacle avoidance and path planning in indoor environments using range sensors such as lasers and sonars. This paper addresses the problem of...
For successful SLAM, landmarks for pose estimation should be continuously observed. This paper proposes autonomous detection of objects as visual landmarks for visual SLAM. Primitive features such as color and intensity, SIFT keypoints, and contour information are integrated to investigate environmental images and to distinguish objects from the background. Autonomous object detection can enable a...
This paper presents a navigation and mapping technique that integrates the global view of a wireless sensor network and the local advance sensing of mobile robots. Search and rescue missions rely on robots that can successfully navigate through an indoor environment which may be undefined and filled with unpredictable obstacles. The onboard sensors and local navigation schemes can provide obstacle...
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