Cleaning robot navigation using panoramic views and particle clouds as landmarks

Möller, Ralf; Krzykawski, Martin; Gerstmayr-Hillen, Lorenz; Horst, Michael; Fleer, David Roman; Jong, Janina De

doi:10.1016/j.robot.2013.07.011

Cited by 13 publications

(22 citation statements)

References 53 publications

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“…Home vector and visual compass can either be used to approach a target location where the snapshot was taken (by following the home vectors in Section 5), or they can be used to obtain a position estimate by triangulating multiple snapshots with known positions (see Section 7). The latter application of min-warping is the basis of the visual lane-control method for domestic cleaning robots presented in [54,55]. Here min-warping performed well both in computer simulations with different environments (walls with random textures, walls with photos of real environments) and in robot experiments in unmodified lab rooms and apartments, at least under constant conditions of illumination.…”

Section: Min-warping a Holistic Local Visual Homing Methodsmentioning

confidence: 87%

“…Warping has been applied to navigation in topological maps [50,52,53]. The min-warping method [20] addressed in this paper has successfully been applied to cleaning robot control [54,55].…”

Section: Feature-based Vs Holistic Methodsmentioning

confidence: 99%

“…For these two reasons, holistic methods may be particularly suitable for consumer market robots (e.g., cleaning or lawn-mowing robots) and for flying robots which typically have limited onboard processing power due to constraints in cost, weight, and battery power. (3) Despite their simplicity, some holistic navigation models have been successfully applied to real-world images from outdoor environments [25,26,56] and for indoor navigation of cleaning robots [54,55]. At least for rotation estimation it has been observed that holistic methods perform better than feature-based approaches [57] which seem to be susceptible to calibration errors.…”

Section: Feature-based Vs Holistic Methodsmentioning

confidence: 99%

“…(4) Holistic methods use all available information from an image pair and may therefore be superior to feature-based methods in environments with few suitable features (e.g., corners), such as natural outdoor environments; however, this assumption needs experimental verification. (5) We know that min-warping works well in very different visual environments, e.g., in computer simulations with random wall textures without easily discernible landmark features and in different, unmodified real rooms (labs, apartments) [55].…”

Section: Feature-based Vs Holistic Methodsmentioning

confidence: 99%

“…Min-warping searches for best-matching image columns over a range of the angle Θ ′ (indicated by three example angles). Figure and caption modified from [55].…”

Section: Min-warping a Holistic Local Visual Homing Methodsmentioning

confidence: 99%

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Illumination Tolerance for Visual Navigation with the Holistic Min-Warping Method

2014

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Holistic visual navigation methods are an emerging alternative to the ubiquitous feature-based methods. Holistic methods match entire images pixel-wise instead of extracting and comparing local feature descriptors. In this paper we investigate which pixel-wise distance measures are most suitable for the holistic min-warping method with respect to illumination invariance. Two novel approaches are presented: tunable distance measures-weighted combinations of illumination-invariant and illumination-sensitive terms-and two novel forms of "sequential" correlation which are only invariant against intensity shifts but not against multiplicative changes. Navigation experiments on indoor image databases collected at the same locations but under different conditions of illumination demonstrate that tunable distance measures perform optimally by mixing their two portions instead of using the illumination-invariant term alone. Sequential correlation performs best among all tested methods, and as well but much faster in an approximated form. Mixing with an additional illumination-sensitive term is not necessary for sequential correlation. We show that min-warping with approximated sequential correlation can successfully be applied to visual navigation of cleaning robots.

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Section: Min-warping a Holistic Local Visual Homing Methodsmentioning

confidence: 87%

“…Warping has been applied to navigation in topological maps [50,52,53]. The min-warping method [20] addressed in this paper has successfully been applied to cleaning robot control [54,55].…”

Section: Feature-based Vs Holistic Methodsmentioning

confidence: 99%

Section: Feature-based Vs Holistic Methodsmentioning

confidence: 99%

Section: Feature-based Vs Holistic Methodsmentioning

confidence: 99%

“…Min-warping searches for best-matching image columns over a range of the angle Θ ′ (indicated by three example angles). Figure and caption modified from [55].…”

Section: Min-warping a Holistic Local Visual Homing Methodsmentioning

confidence: 99%

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