Artificial intelligence and mobile robots: case studies of successful robot systems
Artificial intelligence and mobile robots: case studies of successful robot systems
An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
Matching Widely Separated Views Based on Affine Invariant Regions
International Journal of Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
From omnidirectional images to hierarchical localization
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
ASIFT: A New Framework for Fully Affine Invariant Image Comparison
SIAM Journal on Imaging Sciences
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Localization and Matching Using the Planar Trifocal Tensor With Bearing-Only Data
IEEE Transactions on Robotics
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
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Robust topological navigation strategy for omnidirectional mobile robot using an omnidirectional camera is described. The navigation system is composed of on-line and off-line stages. During the off-line learning stage, the robot performs paths based on motion model about omnidirectional motion structure and records a set of ordered key images from omnidirectional camera. From this sequence a topological map is built based on the probabilistic technique and the loop closure detection algorithm, which can deal with the perceptual aliasing problem in mapping process. Each topological node provides a set of omnidirectional images characterized by geometrical affine and scale invariant keypoints combined with GPU implementation. Given a topological node as a target, the robot navigation mission is a concatenation of topological node subsets. In the on-line navigation stage, the robot hierarchical localizes itself to the most likely node through the robust probability distribution global localization algorithm, and estimates the relative robot pose in topological node with an effective solution to the classical five-point relative pose estimation algorithm. Then the robot is controlled by a vision based control law adapted to omnidirectional cameras to follow the visual path. Experiment results carried out with a real robot in an indoor environment show the performance of the proposed method.