Employing Observation Angles in Pose Recognition; Application for Teach-and-Repeat Robot Navigation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00233253" target="_blank" >RIV/68407700:21230/15:00233253 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00233253
Result on the web
<a href="http://link.springer.com/chapter/10.1007%2F978-3-319-22383-4_12" target="_blank" >http://link.springer.com/chapter/10.1007%2F978-3-319-22383-4_12</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-22383-4_12" target="_blank" >10.1007/978-3-319-22383-4_12</a>

Result language
angličtina
Original language name
Employing Observation Angles in Pose Recognition; Application for Teach-and-Repeat Robot Navigation
Original language description
In this paper, a method is presented which uses landmark bearings to support navigation. The herein introduced approach expands on previous method that uses robust image features in conjunction with dead-reckoning to correct robot bearing. In the presented approach, a combination of omnidirectional camera, and exploiting the observation angles are used to address adjustment of positioning errors of the robot on the fly, without a need for dead-reckoning. This keeps the positioning deviation within specific bounds and thus avoids accumulative nature of dead-reckoning error. Although this information is insufficient for absolute triangulation, under certain constraints it proves satisfactory for direction estimation. Detecting the arrival at the previously learned location or comparing relative distance of the landmarks for each observation point is also possible. The presented approach was verified in simulation and on the real robot. Obtained results indicate the feasibility of the app
Czech name
—
Czech description
—

Project
—
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Modelling and Simulation for Autonomous Systems (Second International Workshop, MESAS 2015)
ISBN
978-3-319-22382-7
ISSN
0302-9743
e-ISSN
—
Number of pages
8
Pages from-to
165-172
Publisher name
Springer International Publishing AG
Place of publication
Cham
Event location
Praha
Event date
Apr 29, 2015
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000365044100012

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