Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

Gil, Arturo; Reinoso, Óscar; Ballesta, M. Teresa Sánchez; Juliá, Miguel; Payá, Luis

doi:10.3390/s100505209

Cited by 25 publications

(26 citation statements)

References 29 publications

(43 reference statements)

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“…Such a quality is especially remarkable in the case of omnidirectional cameras, whose field of view is maximum. Many approaches have exploited this aspect of single cameras by means of visual descriptors to encode 3D visual landmarks [1,2,3]. Omnidirectional cameras have also been used within different contexts successfully [4,5,6].…”

Section: Introductionmentioning

confidence: 99%

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Information-based view initialization in visual SLAM with a single omnidirectional camera

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Ghaffari

Miró

et al. 2015

Robotics and Autonomous Systems

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This paper presents a novel mechanism to initiate new views within the map building process for an EKF-based visual SLAM (Simultaneous Localization and Mapping) approach using omnidirectional images. In presence of non-linearities, the EKF is very likely to compromise the final estimation. Particularly, the omnidirectional observation model is induces non-linear errors, thus it becomes a potential source of uncertainty. To deal with this issue we propose a novel mechanism for view initialization which accounts for information gain and losses more efficiently. The main outcome of this contribution is the reduction of the map uncertainty and thus the higher consistency of the final estimation. Its basis relies on a Gaussian Process to infer an information distribution model from sensor data. This model represents feature points existence probabilities and their information content analysis leads to the proposed view initialization scheme. To demonstrate the suitability and effectiveness of the approach we present a series of real data experiments conducted with a robot equipped with a camera sensor and map model solely based on omnidirectional views. The results reveal a beneficial reduction on the uncertainty but also on the error in the pose and the map estimate.

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Section: Introductionmentioning

confidence: 99%

“…Over the last years, great efforts have been made on the study and research of the EKF-based SLAM methods sustained by visual sensors [7,1,8,2,9,10]. The main efforts have been concentrated on the position estimation of a 3D visual landmarks set in a common reference system.…”

Section: Introductionmentioning

confidence: 99%

Information-based view initialization in visual SLAM with a single omnidirectional camera

Valiente

Ghaffari

Miró

et al. 2015

Robotics and Autonomous Systems

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“…For environment mapping, there have been many impressive results shown in recent years [15][16][17][18][19]. In this work, the occupancy grid mapping method is applied in local metric map building.…”

Section: Metric Map Of Loose Constraint Areamentioning

confidence: 99%

Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

Gong

Jiang

et al. 2013

Remote Sensing

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Abstract:To reduce the data size of metric map and map matching computational cost in unmanned ground vehicle self-driving navigation in urban scenarios, a metric-topological hybrid map navigation system is proposed in this paper. According to the different positioning accuracy requirements, urban areas are divided into strong constraint (SC) areas, such as roads with lanes, and loose constraint (LC) areas, such as intersections and open areas. As direction of the self-driving vehicle is provided by traffic lanes and global waypoints in the road network, a simple topological map is fit for the navigation in the SC areas. While in the LC areas, the navigation of the self-driving vehicle mainly relies on the positioning information. Simultaneous localization and mapping technology is used to provide a detailed metric map in the LC areas, and a window constraint Markov localization algorithm is introduced to achieve accurate position using laser scanner. Furthermore, the real-time performance of the Markov algorithm is enhanced by using a constraint window to restrict the size of the state space. By registering the metric maps into the road network, a hybrid map of the urban scenario can be constructed. Real unmanned vehicle mapping and navigation tests demonstrated the capabilities of the proposed method.

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“…The detection is carried out from a single location and even from multiple viewpoints. A fleet of GMRs was used for mapping an office-like indoor environment -each robot had its own sensor and all the measurements were fused to create a global single map in [202].…”

Section: Detected Objects and Pointsmentioning

confidence: 99%

A Taxonomy of Vision Systems for Ground Mobile Robots

Gómez

Fernández-Caballero

García-Varea

et al. 2014

International Journal of Advanced Robotic Systems

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This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject. Firstly, a thorough review of the papers is proposed to discuss and classify both past and the most current approaches in the field. As a result, a global picture of the state of the art of the last five years is obtained. Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics. In this sense, the paper aims at being especially helpful to both budding and experienced researchers in the areas of vision systems and mobile ground robots. The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where? The answers are derived from the most relevant techniques described in the recent literature, leading in a natural way to a series of classifications that are discussed and contextualized. The article offers a global picture of the state of the art in the area and discovers some promising research lines.

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Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

Cited by 25 publications

References 29 publications

Information-based view initialization in visual SLAM with a single omnidirectional camera

Information-based view initialization in visual SLAM with a single omnidirectional camera

Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

A Taxonomy of Vision Systems for Ground Mobile Robots

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