Study of the navigation parameters in appearance-based navigation of a mobile robot

Authors:
Luis Payá;Oscar Reinoso;Arturo Gil;Nicolás García;Maria Asunción Vicente
Affiliations:
Departamento de Ingeniería de Sistemas Industriales, Miguel Hernández University, Elche (Alicante), Spain;Departamento de Ingeniería de Sistemas Industriales, Miguel Hernández University, Elche (Alicante), Spain;Departamento de Ingeniería de Sistemas Industriales, Miguel Hernández University, Elche (Alicante), Spain;Departamento de Ingeniería de Sistemas Industriales, Miguel Hernández University, Elche (Alicante), Spain;Departamento de Ingeniería de Sistemas Industriales, Miguel Hernández University, Elche (Alicante), Spain
Venue:
ICIAP'05 Proceedings of the 13th international conference on Image Analysis and Processing
Year:
2005

Citing 2
Cited 0

Fast vision-guided mobile robot navigation using model-based reasoning and prediction of uncertainties

CVGIP: Image Understanding
Controlling the Execution of a Visual Servoing Task

Journal of Intelligent and Robotic Systems

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Abstract

Recently, appearance-based approaches have attracted the interests of computer vision researchers. Based on this idea, an appearance-based navigation method using the View-Sequenced Route-Representation model is proposed. A couple of parallel cameras is used to take low-resolution fontal images along the route to follow. Then, zero mean cross correlation is used as image comparison criterion to perform auto-location and control of the robot using only visual information. Besides, a sensibility analysis of the navigation parameters has been carried out to try to optimize the accuracy and the speed in route following. An exhaustive number of experiments using a 4-wheel drive robot with synchronous drive kinematics have been carried out.