NDLI: Vision-based navigation and environmental representations with an omnidirectional camera

Content Provider	IEEE Xplore Digital Library
Author	Gaspar, J. Winters, N. Santos-Victor, J.
Copyright Year	1989
Abstract	Proposes a method for the visual-based navigation of a mobile robot in indoor environments, using a single omnidirectional (catadioptric) camera. The geometry of the catadioptric sensor and the method used to obtain a bird's eye (orthographic) view of the ground plane are presented. This representation significantly simplifies the solution to navigation problems, by eliminating any perspective effects. The nature of each navigation task is taken into account when designing the required navigation skills and environmental representations. We propose two main navigation modalities: topological navigation and visual path following. Topological navigation is used for traveling long distances and does not require knowledge of the exact position of the robot but rather, a qualitative position on the topological map. The navigation process combines appearance based methods and visual servoing upon some environmental features. Visual path following is required for local, very precise navigation, e.g., door traversal, docking. The robot is controlled to follow a prespecified path accurately, by tracking visual landmarks in bird's eye views of the ground plane. By clearly separating the nature of these navigation tasks, a simple and yet powerful navigation system is obtained.
Starting Page	890
Ending Page	898
Page Count	9
File Size	506428
File Format	PDF
ISSN	1042296X
Volume Number	16
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-12-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Cameras Robot vision systems Motion planning Animals Mobile robots Visual servoing Biology computing Robustness Insects
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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