Robot Navigation Behaviors Based on Omnidirectional Vision and Information Theory

• Autores: Boyán I. Bonev, Miguel Cazorla Quevedo , Francisco Escolano Ruiz
• Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 1, Nº. 1, 2007, págs. 27-36
• Idioma: inglés
• DOI: 10.14198/jopha.2007.1.1.04
• Enlaces
  • Texto completo
• Resumen

  • In this work we present a reactive autonomous robot navigation system based only on omnidirectional vision.

    It does not rely on any prior knowledge about the environment apart from assuming a structured one, like indoor corridors or outdoor avenues. The direction of the corridor is estimated from the entropy analysis of a 1-D omnidirectional image. The 2-D omnidirectional image is analyzed for obstacle avoidance and for keeping a safety distance from the borders of the corridor.

    Both methods are non-metric and no 3-D information is needed.

    The system performs well with different resolutions and the catadioptric sensor needs no calibration. We present results from indoor and outdoor experiments.

• Referencias bibliográficas
  • [1] A. Briggs, C. Detweiler, Y. Li, P. Mullen, and D. Scharstein, Matching scale-space features in 1D panoramas. Computer Vision and Image Understanding,...
  • [2] D. Lambrinos, R. Möller, T. Labhart, R. Pfeifer, and R. Wehner, "A mobile robot employing insect strategies for navigation," Robotics...
  • [3] C. Geyer and K. Daniilidis, "Structure and motion from uncalibrated catadioptric views," in IEEE Conf. Computer Vision and Pattern...
  • [4] Y. Yagi, K. Imai, K. Tsuji, and M. Yachida, "Iconic Memory-Based Omnidirectional Route Panorama Navigation," IEEE Transactions...
  • [5] J. Gaspar and J. Santos-Victor, "Vision-based navigation and environmental representations with an omni-directional camera," IEEE...
  • [6] C. Lopez-Franco and E. Bayro-Corrochano, "Unified model for omnidirectional vision using the conformal geometric algebra framework,"...
  • [7] S. Lenser and M. Veloso, "Visual sonar: Fast obstacle avoidance using monocular vision," in Proc. of the IEEE/RSJ IROS 2003.
  • [8] R.C. Arkin, Behavior-based Robotics, The MIT Press, ISBN 0-262-01165-4, 1999.
  • [9] N.Y. Ko and R.G. Simmons, "The lane-curvature method for local obstacle avoidance," in IEEE/RSJ International Conference on Intelligent...
  • [10] J. Borenstein and Y. Koren, "Real-time obstacle avoidance for fast mobile robots," IEEE Transactions on Systems, Man, and Cybernetics,...
  • [11] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," The International Journal of Robotics Research,...
  • [12] S. Benhimane and E. Malis, "A new approach to vision-based robot control with omni-directional cameras," in Proc. of the 2006...
  • [13] G.L. Mariottini, D. Prattichizzo, and G. Oriolo, "Image-based visual servoing for nonholonomic mobile robots with central catadioptric...
  • [14] M. Cover and J.A. Thomas, Elements of Information Theory, Wiley Interscience, ISBN 0-471-24195-4, 1991.
  • [15] J.M. Sáez, M.A. Cazorla, and R. Rizo, Métodos Matemáticos en la Computación, Universidad de Alicante, 2002.
  • [16] J.D. Faires and R. Burden, Numerical Methods, 3rd ed., Brooks Cole, Jun. 2002.
  • [17] B. Bonev, M.A. Cazorla, and F. Escolano, "Robot Navigation Video," [http://www.dccia.ua.es/\~boyan/navigation.avi](http://www.dccia.ua.es/~boyan/navigation.avi),...