Panoramic representation for route recognition by a mobile robot
International Journal of Computer Vision - Special issue on machine vision research at Osaka University
Indoor Navigation for a Humanoid Robot Using a View Sequence
International Journal of Robotics Research
Slicing the view: occlusion-aware view-based robot navigation
Proceedings of the 32nd DAGM conference on Pattern recognition
Environmental modeling and identification based on changes in sensory information
Transactions on computational science VIII
Environmental modeling and identification based on changes in sensory information
Transactions on computational science VIII
A fast robot homing approach using sparse image waypoints
Image and Vision Computing
Adaptive finite state machine based visual autonomous navigation system
Engineering Applications of Artificial Intelligence
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View- and appearance-based approaches have recently been attracting the interest of those involved in computer vision research. We have already proposed a visual view-based navigation method using a model of the route called the "view sequence," which contains a sequence of front views along a route memorized in the recording run. In this paper, we firstly apply the omnidirectional vision sensor to our view-based navigation method and propose an extended model of a route called the "omniview sequence." Secondly we propose a map named the "view-sequenced map" which represents an entire corridor environment in a building. A method for the automatic acquisition of a view-sequenced map based on the exploration in a corridor using both stereo and omnidirectional vision is also described. Finally experimental results of the autonomous navigation and the map acquisition are presented to show the feasibility of the proposed methods.