Vision-only autonomous navigation using topometric maps


Autoria(s): Dayoub, Feras; Morris, Timothy; Upcroft, Ben; Corke, Peter
Data(s)

11/11/2013

Resumo

This paper presents a mapping and navigation system for a mobile robot, which uses vision as its sole sensor modality. The system enables the robot to navigate autonomously, plan paths and avoid obstacles using a vision based topometric map of its environment. The map consists of a globally-consistent pose-graph with a local 3D point cloud attached to each of its nodes. These point clouds are used for direction independent loop closure and to dynamically generate 2D metric maps for locally optimal path planning. Using this locally semi-continuous metric space, the robot performs shortest path planning instead of following the nodes of the graph --- as is done with most other vision-only navigation approaches. The system exploits the local accuracy of visual odometry in creating local metric maps, and uses pose graph SLAM, visual appearance-based place recognition and point clouds registration to create the topometric map. The ability of the framework to sustain vision-only navigation is validated experimentally, and the system is provided as open-source software.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/61572/

Relação

http://eprints.qut.edu.au/61572/1/IROS13_0810_FI.pdf

http://www.iros2013.org/

Dayoub, Feras, Morris, Timothy, Upcroft, Ben, & Corke, Peter (2013) Vision-only autonomous navigation using topometric maps. In International Conference on Intelligent Robots and Systems (2013 IEEE/RSJ), 3-7 November 2013, Tokyo Big Sight, Tokyo.

http://purl.org/au-research/grants/ARC/DP110103006

Direitos

Copyright 2013 [please consult the author]

Fonte

School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #topometric map #robotics
Tipo

Conference Paper