Título:
|
Guiding and localising in real-time a mobile robot with a monocular camera in non-flat terrains
|
Autor/a:
|
Vidal Calleja, Teresa; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan
|
Otros autores:
|
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
|
In this paper we present a real-time active motion strategy for a mobile robot navigating in a non-flat terrain and its 3D constrained motion model. The aim is to control the robot with measurements from only one camera that autonomously builds a visual feature map while at the same time optimises its localisation within this map. The technique chooses the most appropriate commands maximising the expected information gain between prior states and measurements, while performing 6DOF bearing-only SLAM at real-time. The constrained 3D motion model presented here is used to infer the position of the vehicle in order to evaluate the mutual information for all possible actions at the same time. To validate the approach, not only simulations over uneven terrain have been performed, but also experimental results are shown for the technique being tested with a synchro-drive mobile robot platform with a wide-angle camera. |
Abstract:
|
Peer Reviewed |
Materia(s):
|
-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo -Àrees temàtiques de la UPC::Informàtica::Robòtica -Computer vision -Robots -Robotics -Mobile robots -navigation -SLAM -Visió per ordinador -Robots -Robòtica -Classificació INSPEC::Pattern recognition::Computer vision -Classificació INSPEC::Automation::Robots |
Derechos:
|
|
Tipo de documento:
|
Objeto de conferencia |
Editor:
|
s. n.
|
Compartir:
|
|