CONTINUOUS NAVIGATION OF A MOBILE ROBOT WITH AN APPEARANCE-BASED APPROACH

Luis Payá, M. Asunción Vicente, Laura Navarro, Oscar Reinoso, César Fernández, Arturo Gil

Abstract

Appearance-based approaches have become a feasible technique applied to robot navigation. They are based on the direct comparison of images without any feature extraction. This approach presents several advantages comparing to model-based methods, such as their application to non-structured environments and the relative simplicity of the control they offer. This work presents the continuous navigation of a mobile robot, using an appearance-based method. The objective is the following of pre-recorded routes, using just visual information acquired with a couple of parallel cameras. In this approach, low-resolution frontal images along the route to follow are stored. This is done in an automated way, what allows optimizing the database size. Several control schemas have been tested to improve the accuracy in the navigation, such as P, PD and PD with variable parameters, whose experimental results are presented.

References

  1. Jones, S.D., Andersen, C., Crowley, J.L., 1997. Appearance based processes for visual navigation. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems. 551-557.
  2. Lebegue, X., Aggarwal, J.K., 1993. Significant line segments for an indoor mobile robot. In IEEE Transactions on Robotics and Automation. Vol. 9, nº 6, 801-815.
  3. Maeda, S., Kuno, Y., Shirai, Y., 1997. Active navigation vision based on eigenspace analysis. In Proceedings IEEE International Conference on Intelligent Robots and Systems. Vol 2, 1018-1023.
  4. Matsumoto, Y., Inaba, M., Inoue, H., 1996. Visual navigation using view-sequenced route representation. In Proceedings of IEEE International conference on Robotics and Automation. Vol 1, 83-88.
  5. Ohno, T., Ohya, A., Yuta, S., 1996. Autonomous navigation for mobile robots referring pre-recorded image sequence. In Proceedings IEEE International. Conference on Intelligent Robots and Systems. Vol 2, 672-679.
  6. Paya, L., Reinoso, O., Gil, A., Garcia, N., Vicente, M.A., 2005. Accepted for 13th International Conference on Image Analysis and Processing.
  7. Swain-Oropeza, R., Devy, M., Cadenat, V., 1999. Controlling the execution of a visual servoing task. In Journal of Intelligent and Robotic Systems. Vol 25, No 4, 357-369.
  8. Zhou, C., Wei, T., Tan, T., 2003. Mobile robot selflocalization based on global visual appearance features. In Proceedings of the 2003 IEEE International Conference on Robotics & Automation. 1271-1276.
Download


Paper Citation


in Harvard Style

Payá L., Asunción Vicente M., Navarro L., Reinoso O., Fernández C. and Gil A. (2005). CONTINUOUS NAVIGATION OF A MOBILE ROBOT WITH AN APPEARANCE-BASED APPROACH . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 443-446. DOI: 10.5220/0001184204430446


in Bibtex Style

@conference{icinco05,
author={Luis Payá and M. Asunción Vicente and Laura Navarro and Oscar Reinoso and César Fernández and Arturo Gil},
title={CONTINUOUS NAVIGATION OF A MOBILE ROBOT WITH AN APPEARANCE-BASED APPROACH},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={443-446},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001184204430446},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - CONTINUOUS NAVIGATION OF A MOBILE ROBOT WITH AN APPEARANCE-BASED APPROACH
SN - 972-8865-30-9
AU - Payá L.
AU - Asunción Vicente M.
AU - Navarro L.
AU - Reinoso O.
AU - Fernández C.
AU - Gil A.
PY - 2005
SP - 443
EP - 446
DO - 10.5220/0001184204430446