Evaluation of iconic memory-based ORP navigation

Author

Yagi, Yasushi ; Tsuji, Kentaro ; Yachida, Masahiko

Author_Institution

Inst. of Sci. & Ind. Res., Osaka Univ., Japan

Volume

5

fYear

2004

fDate

26 April-1 May 2004

Firstpage

4271

Abstract

A route navigation method for a mobile robot with an omni-directional image sensor is described. The route is memorized from a series of consecutive omni-directional images at the horizon when the robot moves to the goal. While the robot is navigating to the goal point, the input is matched against the memorized spatio-temporal route pattern by using dual active contour models and the exact robot position and orientation is estimated from the converged shape of active contour models. In this paper, we evaluated the precision of the localization of the robot under several different moving conditions and environments.

Keywords

image matching; image sensors; image sequences; mobile robots; path planning; position control; robot vision; active contour model; iconic memory; mobile robot; omnidirectional image sensor; omnidirectional route panorama; route navigation; spatio temporal route pattern; Active contours; Active shape model; Image converters; Image sensors; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1302389

Filename

1302389