ITEM METADATA RECORD
Title: Omnidirectional vision based topological navigation
Authors: Goedemé, Toon
Nuttin, Marnix
Tuytelaars, Tinne
Van Gool, Luc #
Issue Date: 2005
Host Document: Proceedings 15th international symposium on measurement and control in robotics - ISMCR 2005
Conference: International symposium on measurement and control in robotics - ISMCR 2005 edition:15 location:Brussels, Belgium date:8-10 November 2005
Abstract: This work presents a unique system for autonomous mobile robot navigation. The main sensor is an omnidirectional camera. The proposed system is capable to build
automatically a topological map complex, natural environments. It can localise itself using that map on each moment, after startup (kidnapped robot) or using
knowledge of former localisations. The topological nature of the map enables fast and simple path planning towards a specified goal. A visual servoing technique is
implemented to steer the system along the computed path.
The key technology making this all possible is the novel fast wide baseline feature matching, which yields an efficient abstraction of the wealth of information
offered by the visual sensor.
Description: Goedemé T., Nuttin M., Tuytelaars T., Van Gool L., ''Omnidirectional vision based topological navigation'', 15th international symposium on measurement and control in robotics - ISMCR 2005, November 8-10, 2005, Brussels, Belgium.
Publication status: published
KU Leuven publication type: IC
Appears in Collections:ESAT - PSI, Processing Speech and Images
Production Engineering, Machine Design and Automation (PMA) Section
Technologiecluster ESAT Elektrotechnische Engineering
Electrical Engineering (ESAT) TC, Technology Campus De Nayer Sint-Katelijne-Waver
# (joint) last author

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