An appearance-based visual compass for mobile robots
| Autor: | Arnoud Visser, Jürgen Sturm |
|---|---|
| Přispěvatelé: | Amsterdam Machine Learning lab (IVI, FNWI) |
| Rok vydání: | 2009 |
| Předmět: |
Social robot
Computer science business.industry General Mathematics ComputerApplications_COMPUTERSINOTHERSYSTEMS Mobile robot Mobile robot navigation Computer Science Applications Robot control Control and Systems Engineering Compass Robot Computer vision AIBO Artificial intelligence Active vision business Software |
| Zdroj: | Robotics and Autonomous Systems, 57(5), 536-545. Elsevier |
| ISSN: | 0921-8890 |
| Popis: | Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization, purely based on the visual appearance of a room. A robot using such a visual compass can quickly learn a cylindrical map of the environment, consisting of simple statistical features that can be computed very quickly. The visual compass algorithm is efficient, scalable and can therefore be used in real-time on almost any contemporary robotic platform. Extensive experiments on a Sony Aibo robot have validated that the approach works in a vast variety of environments. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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