Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis

Amorós, Francisco; Payá, Luis; Reinoso, Óscar; Mayol-Cuevas, Walterio; Calway, Andrew

doi:10.1155/2014/365417

Cited by 3 publications

(3 citation statements)

References 36 publications

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“…This analysis consists in carrying out several artificial zoomings of the central area of the scenes and has been used previosly to estimate the topological distance between the capture points of two scenes when the robot moves in the ground plane [43]. To obtain consistent results, the projection plane of the images must be perpendicular to the direction of the movement.…”

Section: Methods 3: Multiscale Analysis Of the Orthographic Viewmentioning

confidence: 99%

Development of Height Indicators using Omnidirectional Images and Global Appearance Descriptors

et al. 2017

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Nowadays, mobile robots have become a useful tool that permits solving a wide range of applications. Their importance lies in their ability to move autonomously through unknown environments and to adapt to changing conditions. To this end, the robot must be able to build a model of the environment and to estimate its position using the information captured by the different sensors it may be equipped with. Omnidirectional vision sensors have become a robust option thanks to the richness of the data they capture. These data must be analysed to extract relevant information that permits estimating the position of the robot taking into account the number of degrees of freedom it has. In this work, several methods to estimate the relative height of a mobile robot are proposed and evaluated. The framework we present is based on the global appearance of the scenes, which has emerged as an efficient and robust alternative comparing to methods based on local features. All the algorithms have been tested with some sets of images captured under real working conditions in several indoor and outdoor spaces. The results prove that global appearance descriptors provide a feasible alternative to estimate topologically the relative altitude of the robot.

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Section: Methods 3: Multiscale Analysis Of the Orthographic Viewmentioning

confidence: 99%

Development of Height Indicators using Omnidirectional Images and Global Appearance Descriptors

et al. 2017

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“…It is also interesting to study how localization with 6 degrees of freedom can be done, using only the information from the images captured by an omnidirectional camera. This means to estimate the position and orientation of the mobile robot in the space [33,34,35].…”

Section: Map Building Based On Appearancementioning

confidence: 99%

Robot navigation in dynamic environments using global-appearance descriptors. State of the art

Fernandez¹

2015

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Map building and localization are two important abilities that autonomous mobile robots must develop. This way, much research has been carried out on these topics, and researchers have proposed many approaches to address these problems. This work presents a state of the art report on map building and localization using global appearance descriptors. In this approach, robots capture visual information from the environment and obtain, usually by means of a transformation, a global appearance descriptor for each image. Using these descriptors, the robot is able to estimate its location in a map previously built, which is also composed of a set of global appearance descriptors. Several previous investigations that have led to the approach of this research are summarized in this paper, such as researches that compare several methods of creating global appearance descriptors. In these works we observe how the continuous optimization of the algorithms has lead to better estimations of the robot position within the environment. Finally a number of future directions in which researches are currently working are listed. This work has been performed to gain access to TECNIT doctoral program at the University Miguel Hernández of Elche.

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“…Some systems can build a map of the environment while exploring it. The maps can have a topological representation, as in [15] and [16], or a metric representation. Occupancy grid-based strategies represent one of the early approaches to representing metric maps; some examples are [17] and [18] However, occupancy grid-based strategies can be computationally inefficient for path planning and localization, especially in complex and great indoor environments.…”

Section: Introductionmentioning

confidence: 99%

A Visual-Aided Inertial Navigation and Mapping System

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Nuño

Aldana

et al. 2016

International Journal of Advanced Robotic Systems

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State estimation is a fundamental necessity for any application involving autonomous robots. This paper describes a visual-aided inertial navigation and mapping system for application to autonomous robots. The system, which relies on Kalman filtering, is designed to fuse the measurements obtained from a monocular camera, an inertial measurement unit (IMU) and a position sensor (GPS). The estimated state consists of the full state of the vehicle: the position, orientation, their first derivatives and the parameter errors of the inertial sensors (i.e., the bias of gyroscopes and accelerometers). The system also provides the spatial locations of the visual features observed by the camera. The proposed scheme was designed by considering the limited resources commonly available in small mobile robots, while it is intended to be applied to cluttered environments in order to perform fully vision-based navigation in periods where the position sensor is not available. Moreover, the estimated map of visual features would be suitable for multiple tasks: i) terrain analysis; ii) three-dimensional (3D) scene reconstruction; iii) localization, detection or perception of obstacles and generating trajectories to navigate around these obstacles; and iv) autonomous exploration. In this work, simulations and experiments with real data are presented in order to validate and demonstrate the performance of the proposal.

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Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis

Cited by 3 publications

References 36 publications

Development of Height Indicators using Omnidirectional Images and Global Appearance Descriptors

Development of Height Indicators using Omnidirectional Images and Global Appearance Descriptors

Robot navigation in dynamic environments using global-appearance descriptors. State of the art

A Visual-Aided Inertial Navigation and Mapping System

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