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ICRA
2008
IEEE

Autonomous image-based exploration for mobile robot navigation

8 years 8 months ago
Autonomous image-based exploration for mobile robot navigation
— Image-based navigation paradigms have recently emerged as an interesting alternative to conventional modelbased methods in mobile robotics. In this paper, we augment the existing image-based navigation approaches by presenting a novel image-based exploration algorithm. The algorithm facilitates a mobile robot equipped only with a monocular pan-tilt camera to autonomously explore a typical indoor environment. The algorithm infers frontier information directly from the images and displaces the robot towards regions that are informative for navigation. The frontiers are detected using a geometric context-based segmentation scheme that exploits the natural scene structure in indoor environments. In the due process, a topological graph of the workspace is built in terms of images which can be subsequently utilised for the tasks of localisation, path planning and navigation. Experimental results on a mobile robot in an unmodified laboratory and corridor environments demonstrate the vali...
D. Santosh, Supreeth Achar, C. V. Jawahar
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors D. Santosh, Supreeth Achar, C. V. Jawahar
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