NDLI: Mobile robot navigation using egomotion estimates

Content Provider	IEEE Xplore Digital Library
Author	Branca, A. Stella, E. Distante, A.
Copyright Year	1997
Description	Author affiliation: Inst. Elavorazione Segnali ed Immagini, CNR, Bari, Italy (Branca, A.)
Abstract	The main aim of this paper is to describe an efficient approach for egomotion parameters estimation in order to solve the passive navigation problem. Passive navigation is the ability of an autonomous agent to determine its motion with respect to the environment. The two main egomotion parameters allowing to perform passive navigation are the heading direction and the time to collision with the environment. A lot of approaches have been proposed in literature in order to estimate the above parameters, most of which work well only if the motion is a predominant translation forward or small amounts of noise are present in the input data. In our work we propose a method computing in real time, using a least square approach, the egomotion parameters from same robust feature correspondences. The approach we propose is based on the observation that the radial structures of the 2D motion field generated by passive navigation can be approximated by a 2D motion field corresponding to the projection on the image plane of a translational motion on both X horizontal axis and Z axis. The aim is to show that the heading direction can be computed correctly from translational motion parameters, though large rotations are performed by the vehicle.
Starting Page	533
Ending Page	537
File Size	535224
Page Count	5
File Format	PDF
ISBN	0780341198
DOI	10.1109/IROS.1997.655063
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-09-11
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Navigation Parameter estimation Motion planning Autonomous agents Motion estimation Working environment noise Least squares methods Noise robustness Least squares approximation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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