Image-based mapping and navigation with heterogenous robots

Authors:
Gorkem Erinc;Stefano Carpin
Affiliations:
School of Engineering, University of California, Merced;School of Engineering, University of California, Merced
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 9
Cited 3

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International Journal of Computer Vision
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Robotics and Autonomous Systems
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IEEE Transactions on Robotics

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Image and Vision Computing
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Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop
Anytime merging of appearance-based maps

Autonomous Robots

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Abstract

We present a system that enables multiple heterogenous mobile robots to build and share an appearance based map appropriate for indoor navigation using exclusively monocular vision. Robots incrementally create online an appearance based model based on SIFT descriptors. The spatial model is enriched with additional information so that the map can be used for navigation also by robots different from those that built it. Once the map is available, navigation is performed using an approach based on epipolar geometry. The control mechanism builds upon the unicycle kinematic model, and assumes robots are equipped with a servoed camera. The validity of the proposed approach is substantiated both in simulation and on an heterogeneous multirobot system.