An appearance-based visual compass for mobile robots

Sturm, Jürgen; Visser, A.

doi:10.1016/j.robot.2008.10.002

Cited by 18 publications

(10 citation statements)

References 11 publications

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“…Sturm et al [14,15] presented a visual compass and a localization approach which is purely based on the detected colour classes above the horizon. They used a segmented image discretized into colour classes and mapped vertical changes among these classes.…”

Section: Static Featuresmentioning

confidence: 99%

Spontaneous Reorientation for Self-localization

Bader

Vincze

2014

RoboCup 2013: Robot World Cup XVII

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Abstract. Humanoid robots without internal sensors (e.g. compasses) tend to lose their orientation after a fall or collision. Furthermore, artificial environments are typically rotationally symmetric, causing ambiguities in self-localization. The approach proposed here does not alter the measurement step in the robot's self-localization. Instead it delivers confidence values for rotationally symmetric poses to the robot's behaviour controller, which then commands the robot's self-localization. The behaviour controller uses these confidence values and triggers commands to rearrange the self-localization's pose beliefs within one measurement cycle. This helps the self-localization algorithm to converge to the correct pose and prevents the algorithm from getting stuck in local minima. Experiments in a symmetric environment with a simulated and a real humanoid NAO robot show that this significantly improves the system.

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Section: Static Featuresmentioning

confidence: 99%

Spontaneous Reorientation for Self-localization

Bader

Vincze

2014

RoboCup 2013: Robot World Cup XVII

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“…The dynamic environment has been created by adding noise patches in the images. A visual compass technique based on appearance of images has been proposed in [14]. The experiments for this appearance based method has been carried out in indoor as well as outdoor environment.…”

Section: Related Workmentioning

confidence: 99%

A multiple camera based visual compass for a mobile robot in dynamic environment

Sabnis

Vachhani

2013

2013 IEEE International Conference on Control Applications (CCA)

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It is important to gather knowledge of orientation of the robot at any pose in many mobile robotic tasks. A visual compass is a technique that matches images to find the orientation of a robot. These images are collected at the reference and current pose of the robot. A robust visual compass technique is proposed to determine the orientation of the robot at any pose with respect to a reference direction using multiple cameras for unknown dynamic environment. The multiple camera system is the only sensor used to develop visual compass technique. The method estimates the orientation of the robot by finding first coarse and then fine angle difference between reference and current positions. The experiments in indoor and outdoor dynamic environment validate that the proposed visual compass technique estimates the orientation of a mobile robot with respect to its orientation at reference position within ±5 • error. The proposed technique does not use expensive image processing tasks such as feature extraction and feature matching.Index Terms-Orientation of robot, visual compass, multiple camera system, dynamic environment.

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“…[24], and it has been mainly applied to omnidirectional camera systems. 20,33 The visual compass technique is also based on the template matching procedure to estimate the pixel displacement between two consecutive images. The difference is that now a camera looking at the environment ("panoramic view") is employed.…”

Section: Estimating Robot Orientation: Visual Compassmentioning

confidence: 99%

Combined visual odometry and visual compass for off-road mobile robots localization

et al. 2011

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SUMMARYIn this paper, we present the work related to the application of a visual odometry approach to estimate the location of mobile robots operating in off-road conditions. The visual odometry approach is based on template matching, which deals with estimating the robot displacement through a matching process between two consecutive images. Standard visual odometry has been improved using visual compass method for orientation estimation. For this purpose, two consumer-grade monocular cameras have been employed. One camera is pointing at the ground under the robot, and the other is looking at the surrounding environment. Comparisons with popular localization approaches, through physical experiments in off-road conditions, have shown the satisfactory behavior of the proposed strategy.

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An appearance-based visual compass for mobile robots

Cited by 18 publications

References 11 publications

Spontaneous Reorientation for Self-localization

Spontaneous Reorientation for Self-localization

A multiple camera based visual compass for a mobile robot in dynamic environment

Combined visual odometry and visual compass for off-road mobile robots localization

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