Visual Navigation For Robots In Urban And Indoor Environments
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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
Three Dimensional Reconstruction Of Indoor Environments For Visual Navigation In Robots
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Author : angel Ruben Gonzalez Bariada
language : en
Publisher:
Release Date : 2011
Three Dimensional Reconstruction Of Indoor Environments For Visual Navigation In Robots written by angel Ruben Gonzalez Bariada and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
Vision Aided Navigation For Autonomous Vehicles Using Tracked Feature Points
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Author : Ahmed Saber Soliman Sayem
language : en
Publisher:
Release Date : 2016
Vision Aided Navigation For Autonomous Vehicles Using Tracked Feature Points written by Ahmed Saber Soliman Sayem and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Aids to navigation categories.
This thesis discusses the evaluation, implementation, and testing of several navigation algorithms and feature extraction algorithms using an inertial measurement unit (IMU) and an image capture device (camera) mounted on a ground robot and a quadrotor UAV. The vision-aided navigation algorithms are implemented on data-collected from sensors on an unmanned ground vehicle and a quadrotor, and the results are validated by comparison with GPS data. The thesis investigates sensor fusion techniques for integrating measured IMU data with information extracted from image processing algorithms in order to provide accurate vehicle state estimation. This image-based information takes the forms of features, such as corners, that are tracked over multiple image frames. An extended Kalman filter (EKF) in implemented to fuse vision and IMU data. The main goal of the work is to provide navigation of mobile robots in GPS-denied environments such as indoor environments, cluttered urban environments, or space environments such as asteroids, other planets or the moon. The experimental results show that combining pose information extracted from IMU readings along with pose information extracted from a vision-based algorithm managed to solve the drift problem that comes from using IMU alone and the scale problem that comes from using a monocular vision-based algorithm alone.
Tr S Humbles Et Tr S Respectueuses Remontrances Du Parlement S Ant Toulouse O Il Expose Les Raisons Qui Le Mettent Dans L Impuissance D Enregistrer Les Lettres Patentes Qui Tablissaient Le Duc De Fitz James Commandant En Chef Dans La Province De Languedoc 4 Ao T
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language : en
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Tr S Humbles Et Tr S Respectueuses Remontrances Du Parlement S Ant Toulouse O Il Expose Les Raisons Qui Le Mettent Dans L Impuissance D Enregistrer Les Lettres Patentes Qui Tablissaient Le Duc De Fitz James Commandant En Chef Dans La Province De Languedoc 4 Ao T written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
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.
Robot Navigation From Nature
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Author : Michael John Milford
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-02-11
Robot Navigation From Nature written by Michael John Milford and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-11 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.
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 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 Guided Mobile Robot Navigation
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Author : C. López-Abadía
language : en
Publisher:
Release Date : 1989
Vision Guided Mobile Robot Navigation written by C. López-Abadía and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Mobile robots categories.
Abstract: "This report discusses the use of vision feedback for autonomous navigation by a mobile robot in indoor environments. In particular, we have discussed in detail the issues of camera calibration and how binocular and monocular vision may be utilized for self-location by the robot. A noteworthy feature of monocular vision is that the camera image is compared with a CAD model of the interior of the hallways using the PSEIKI reasoning system; this reasoning system allows the comparison to take place at different levels of geometric detail."
Indoor Navigation Of Mobile Robots Based On Visual Memory And Image Based Visual Servoing
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Author : Suman Raj Bista
language : en
Publisher:
Release Date : 2016
Indoor Navigation Of Mobile Robots Based On Visual Memory And Image Based Visual Servoing written by Suman Raj Bista and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
This thesis presents a method for appearance-based navigation from an image memory by Image-Based Visual Servoing (IBVS). The entire navigation process is based on 2D image information without using any 3D information at all. The environment is represented by a set of reference images with overlapping landmarks, which are selected automatically during a prior learning phase. These reference images define the path to follow during the navigation. The switching of reference images during navigation is done by comparing the current acquired image with nearby reference images. Based on the current image and two succeeding key images, the rotational velocity of a mobile robot is computed under IBVS control law. First, we have used the entire image as a fea-ture, where mutual information between reference images and the current view is exploited. Then, we have used line segments for the indoor navigation, where we have shown that line segments are better features for the structured indoor environment. Finally, we combined line segments with point-based features for increasing the application of the method to a wide range of indoor scenarios with smooth motion. Real-time navigation with a Pioneer 3DX equipped with an on-board perspective camera has been performed in indoor environment. The obtained results confirm the viability of our approach and verify that accurate mapping and localization are not mandatory for a useful indoor navigation.