Title: Omnidirectional vision based topological navigation
Authors: Goedemé, Toon ×
Nuttin, Marnix
Tuytelaars, Tinne
Van Gool, Luc #
Issue Date: Sep-2007
Publisher: Kluwer Academic Publishers
Series Title: International Journal of Computer Vision vol:74 issue:3 pages:219-236
Abstract: In this work we present a novel system for autonomous mobile robot navigation. With only an omnidirectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment. It can localise itself using such a map at each moment, including both at startup (kidnapped robot) or using knowledge of former localisations. The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. We developed a real-time visual servoing technique to steer the system along the computed path.
Description: Goedemé T., Nuttin M., Tuytelaars T., Van Gool L., ''Omnidirectional vision based topological navigation'', International journal of computer vision, vol. 74, no. 3, pp. 219-236, September 2007 (special issue on vision and robotics - joint with the international journal of robotics research).
ISSN: 0920-5691
Publication status: published
KU Leuven publication type: IT
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
× corresponding author
# (joint) last author

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