3D Navigation based on a Visual Memory

13 years 11 months ago
3D Navigation based on a Visual Memory
— This paper addresses the design of a control law for vision-based robot navigation. The method proposed is based on a topological representation of the environment. Within this context, a learning stage enables a graph to be built in which nodes represent views acquired by the camera, and edges denote the possibility for the robotic system to move from one image to an other. A path finding algorithm then gives the robot a collection of views describing the environment it has to go through in order to reach its desired position. This article focuses on the control law used for controlling the robot motion’s online. The particularity of this control law is that it does not require any reconstruction of the environment, and does not force the robot to converge towards each intermediary position in the path. Landmarks matched between each consecutive views of the path are considered as successive features that the camera has to observe within its field of view. An original visual s...
Anthony Remazeilles, François Chaumette, Pa
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Anthony Remazeilles, François Chaumette, Patrick Gros
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