Vision-based navigation and environmental representations with an omnidirectional camera

被引:169
作者
Gaspar, J [1 ]
Winters, N [1 ]
Santos-Victor, J [1 ]
机构
[1] Univ Dublin Trinity Coll, Dept Comp Sci, Dublin 2, Ireland
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 06期
关键词
navigation; omnidirectional vision; topological maps; visual servoing;
D O I
10.1109/70.897802
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper 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.
引用
收藏
页码:890 / 898
页数:9
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