Visual Navigation Algorithms For Indoor Service Robots
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Visual Navigation Algorithms For Indoor Service Robots
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Author : Jiali Shen
language : en
Publisher:
Release Date : 2008
Visual Navigation Algorithms For Indoor Service Robots written by Jiali Shen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
Vision Based Autonomous Robot Navigation
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Author : Amitava Chatterjee
language : en
Publisher: Springer
Release Date : 2012-10-13
Vision Based Autonomous Robot Navigation written by Amitava Chatterjee and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-10-13 with Technology & Engineering categories.
This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.
Visual Navigation System For An Indoor Service Robot
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Author : Yuting Sun
language : en
Publisher:
Release Date : 2017
Visual Navigation System For An Indoor Service Robot written by Yuting Sun and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with Robot vision categories.
Visual Navigation For Robots In Urban And Indoor Environments
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Author : Yan Lu
language : en
Publisher:
Release Date : 2015
Visual Navigation For Robots In Urban And Indoor Environments written by Yan Lu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
As a fundamental capability for mobile robots, navigation involves multiple tasks including localization, mapping, motion planning, and obstacle avoidance. In unknown environments, a robot has to construct a map of the environment while simultaneously keeping track of its own location within the map. This is known as simultaneous localization and mapping (SLAM). For urban and indoor environments, SLAM is especially important since GPS signals are often unavailable. Visual SLAM uses cameras as the primary sensor and is a highly attractive but challenging research topic. The major challenge lies in the robustness to lighting variation and uneven feature distribution. Another challenge is to build semantic maps composed of high-level landmarks. To meet these challenges, we investigate feature fusion approaches for visual SLAM. The basic rationale is that since urban and indoor environments contain various feature types such points and lines, in combination these features should improve the robustness, and meanwhile, high-level landmarks can be defined as or derived from these combinations. We design a novel data structure, multilayer feature graph (MFG), to organize five types of features and their inner geometric relationships. Building upon a two view-based MFG prototype, we extend the application of MFG to image sequence-based mapping by using EKF. We model and analyze how errors are generated and propagated through the construction of a two view-based MFG. This enables us to treat each MFG as an observation in the EKF update step. We apply the MFG-EKF method to a building exterior mapping task and demonstrate its efficacy. Two view based MFG requires sufficient baseline to be successfully constructed, which is not always feasible. Therefore, we further devise a multiple view based algorithm to construct MFG as a global map. Our proposed algorithm takes a video stream as input, initializes and iteratively updates MFG based on extracted key frames; it also refines robot localization and MFG landmarks using local bundle adjustment. We show the advantage of our method by comparing it with state-of-the-art methods on multiple indoor and outdoor datasets. To avoid the scale ambiguity in monocular vision, we investigate the application of RGB-D for SLAM.We propose an algorithm by fusing point and line features. We extract 3D points and lines from RGB-D data, analyze their measurement uncertainties, and compute camera motion using maximum likelihood estimation. We validate our method using both uncertainty analysis and physical experiments, where it outperforms the counterparts under both constant and varying lighting conditions. Besides visual SLAM, we also study specular object avoidance, which is a great challenge for range sensors. We propose a vision-based algorithm to detect planar mirrors. We derive geometric constraints for corresponding real-virtual features across images and employ RANSAC to develop a robust detection algorithm. Our algorithm achieves a detection accuracy of 91.0%. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/155525
Robot Vision
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Author : Stefan Florczyk
language : en
Publisher: John Wiley & Sons
Release Date : 2006-03-06
Robot Vision written by Stefan Florczyk and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-03-06 with Technology & Engineering categories.
The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.
Household Service Robotics
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Author : Yangsheng Xu
language : en
Publisher: Academic Press
Release Date : 2014-12-05
Household Service Robotics written by Yangsheng Xu and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-12-05 with Technology & Engineering categories.
Copyright ©2015 Zhejiang University Press, Published by Elsevier Inc. Household Service Robotics is a collection of the latest technological advances in household service robotics in five main areas: robot systems, manipulation, navigation, object recognition, and human-robot interaction. The book enables readers to understand development s and apply them to their own working areas, including: Robotic technologies for assisted living and elderly care Domestic cleaning automation Household surveillance Guiding systems for public spaces Service robotics is a highly multidisciplinary field, requiring a holistic approach. This handbook provides insights to the disciplines involved in the field as well as advanced methods and techniques that enable the scale-up of theory to actual systems. It includes coverage of functionalities such as vision systems, location control, and HCI, which are important in domestic settings. Provides a single source collection of the latest development in domestic robotic systems and control Covers vision systems, location control, and HCI, important in domestic settings Focuses on algorithms for object recognition, manipulation, human-robot interaction, and navigation for household robotics
Robot Rover Visual Navigation
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Author : Hans P. Moravec
language : en
Publisher:
Release Date : 1981
Robot Rover Visual Navigation written by Hans P. Moravec and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1981 with Computers categories.
Autonomous Navigation Algorithms For Indoor Mobile Robots
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Author : Omid Ehtemam-Haghighi
language : en
Publisher:
Release Date : 2009
Autonomous Navigation Algorithms For Indoor Mobile Robots written by Omid Ehtemam-Haghighi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Autonomous robots categories.
Mobile Robots Navigation
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Author : Alejandra Barrera
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-03-01
Mobile Robots Navigation written by Alejandra Barrera and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-01 with Technology & Engineering categories.
Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described.
Robot Navigation From Nature
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Author : Michael John Milford
language : en
Publisher: Springer
Release Date : 2007-12-21
Robot Navigation From Nature written by Michael John Milford and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-21 with Technology & Engineering categories.
This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.