Slicing the view: occlusion-aware view-based robot navigation

Authors:
David Dederscheck;Martin Zahn;Holger Friedrich;Rudolf Mester
Affiliations:
Visual Sensorics and Information Processing Lab, J. W. Goethe University, Frankfurt, Germany;Visual Sensorics and Information Processing Lab, J. W. Goethe University, Frankfurt, Germany;Visual Sensorics and Information Processing Lab, J. W. Goethe University, Frankfurt, Germany;Visual Sensorics and Information Processing Lab, J. W. Goethe University, Frankfurt, Germany
Venue:
Proceedings of the 32nd DAGM conference on Pattern recognition
Year:
2010

Citing 3
Cited 1

Mobile robot navigation and scene modeling using stereo fish-eye lens system

Machine Vision and Applications
View-based navigation using an omniview sequence in a corridor environment

Machine Vision and Applications - Special issue: Omnidirectional vision and its applications
Local visual homing by matched-filter descent in image distances

Biological Cybernetics

Cleaning robot navigation using panoramic views and particle clouds as landmarks

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Optical Rails [1] is a purely view-based method for autonomous track following with a mobile robot, based upon compact omnidirectional view descriptors using basis functions on the sphere. We address the most prominent points of criticism towards holistic methods for robot navigation: Dealing with occlusions and varying illumination. This is accomplished by slicing the omnidirectional view into segments, enabling dynamic visual fields capable of masking out occlusions while preserving proven, efficient paradigms for holistic view comparison and steering.