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Booij07ASCINavigation
Image based navigation using a topological map
Olaf Booij, Bas Terwijn, Zoran Zivkovic and Ben Kröse
In proceedings of the 13th Annual Conference of the Advanced School
for Computing and Imaging, the Netherlands, (ASCI), June, 2007.
Abstract:
A new approach on robot navigation is described
which enables the robot to drive through the envi-
ronment using only a vision system as its sensor.
In an exploration phase the robot is driven manu-
ally through the environment while taking images.
By computing similarities between these images the
robot constructs a topological map in the form of an
appearance graph. Navigation on this graph involves
homing from one node to the other until the goal node
is reached. No explicit metrical information is mod-
elled by this approach. Rather the distances in the
topological map provide directly information about
the ability and the robustness of visual navigation in
the environment. Real world experiments were con-
ducted under varying environmental conditions.
Download:
Final version: gzipped
postscript (2.0 Mb), pdf
(326 Kb).
bibtex entry.
See also:
link to project page
link
to ICRA 2007 paper resulting
from same research
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