A Visual Navigation System for RoboTour Competition

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00169656" target="_blank" >RIV/68407700:21230/10:00169656 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
A Visual Navigation System for RoboTour Competition
Original language description
In this paper, we present our approach to the navigation system for the RoboTour challenge. We describe our intentions, ideas and main principles of our navigation methods which lead to the system that won in years 2008 and 2009. The main idea of our system is a simple yet novel method of position estimation based on monocular vision and odometry. Unlike in other systems, the monocular vision is used to determine only the robot's heading and the odometry is used to estimate only the traveled distance. We show that the heading estimation itself can suppress odometric cumulative errors and prove this statement mathematically and experimentally. The practical result of the proof is that even simple algorithms capable to estimate just the heading can be used as a base for ``record and replay'' techniques. Beside the navigational principles, practical implementation of our navigation system is described.
Czech name
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Czech description
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Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
First International Conference on Robotics in Education, Bratislava
ISBN
978-80-227-3353-3
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
Slovak University of Technology in Bratislava
Place of publication
Bratislava
Event location
Bratislava
Event date
Sep 16, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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