Navigation using an appearance based topological map

被引：76

作者：

Booij, O. ^{[1
]}

Terwijn, B. ^{[1
]}

Zivkovic, Z. ^{[1
]}

Krose, B. ^{[1
]}

机构：

[1] Univ Amsterdam, Intelligent Syst Lab Amsterdam, Kruislaan 403, NL-1098 SM Amsterdam, Netherlands

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.364081

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：3927 / +

页数：2

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