Jednoduchý vizuální navigační systém pro mobilní robot

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F08%3A03141773" target="_blank" >RIV/68407700:21230/08:03141773 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

A Simple Visual Navigation System with Convergence Property

Popis výsledku v původním jazyce

In recent years, as the computational power of common systems increased and image processing became possible in real-time, the means of using vision to navigate mobile robots have been investigated. We have developed a simple Map-building based [1] system, which utilizes a single camera. Similar to [2],[3] our system has to learn the environment during a teleoperated drive. Unlike other visual navigation systems, which are based on direction assessment and recognition of significant places in the environment, we use camera sensing only to correct small-scale errors in movement direction. Positions of significant locations, i.e. places where the robot changes its movement direction significantly, are estimated by odometric measurements. We explore properties of such landmark navigation and state that for some trajectories, the camera readings can correct odometry imprecision without explicitly localizing the robot.

Název v anglickém jazyce

A Simple Visual Navigation System with Convergence Property

Popis výsledku anglicky

In recent years, as the computational power of common systems increased and image processing became possible in real-time, the means of using vision to navigate mobile robots have been investigated. We have developed a simple Map-building based [1] system, which utilizes a single camera. Similar to [2],[3] our system has to learn the environment during a teleoperated drive. Unlike other visual navigation systems, which are based on direction assessment and recognition of significant places in the environment, we use camera sensing only to correct small-scale errors in movement direction. Positions of significant locations, i.e. places where the robot changes its movement direction significantly, are estimated by odometric measurements. We explore properties of such landmark navigation and state that for some trajectories, the camera readings can correct odometry imprecision without explicitly localizing the robot.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

V - Vyzkumna aktivita podporovana z jinych verejnych zdroju

Rok uplatnění

2008

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of Workshop 2008

ISBN

978-80-01-04016-4

ISSN

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e-ISSN

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Počet stran výsledku

2

Strana od-do

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Název nakladatele

Czech Technical University in Prague

Místo vydání

Praha

Místo konání akce

Praha

Datum konání akce

18. 2. 2008

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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