A Monocular Navigation System for RoboTour Competition

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00172081" target="_blank" >RIV/68407700:21230/10:00172081 - 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 Monocular Navigation System for RoboTour Competition

Original language description

In this paper, we present a mobile robot navigation system used in the RoboTour challenge. We describe the basic principles of the navigation methods and show how to combine monocular vision and odometry. We propose to use the monocular vision to determine only the robot's heading and the odometry to estimate only the traveled distance. We show that the heading estimation itself can suppress odometric cumulative errors and outline a mathemtical proof of this statement. The practical result of the proofis 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. It is based on image processing algorithms for path following and landmark-based crossing traversing. An overview of experimental results is presented as well.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JC - Computer hardware and software

OECD FORD branch

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Project

<a href="/en/project/7E08006" target="_blank" >7E08006: Robotic Evolutionary Self-Programming and Self-Assembling Organisms</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach<br>R - Projekt Ramcoveho programu EK

Publication year

2010

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

AT&P journal PLUS 2

ISSN

1336-5010

e-ISSN

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Volume of the periodical

18

Issue of the periodical within the volume

1

Country of publishing house

SK - SLOVAKIA

Number of pages

7

Pages from-to

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UT code for WoS article

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EID of the result in the Scopus database

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