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ICRA
2007
IEEE

Navigation using an appearance based topological map

9 years 10 months ago
Navigation using an appearance based topological map
Abstract— Vision systems are used more and more in ’personal’ robots interacting with humans, since semantic information about objects and places can be derived from the rich sensory information. Visual information is also used for building appearance based topological maps, which can be used for localization. In this paper we describe a system capable of using this appearance based topological map for navigation. The system is made robust by using the epipolar geometry and a planar floor constraint in computing the necessary heading information. Using this method the robot is able to drive robustly in a large environment. We tested the method on real data under varying environment conditions and compared performance with a human-controlled robot.
Olaf Booij, Bas Terwijn, Zoran Zivkovic, Ben J. A.
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Olaf Booij, Bas Terwijn, Zoran Zivkovic, Ben J. A. Kröse
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