Ground Robot Navigation using Uncalibrated Cameras
Name
Teller_Ground robot navigation.pdf
Size
1.61 MB
Format
Adobe PDF
Checksum (MD5)
3e14e36ef98c78d7372bef581f3225bc
Author(s)
Teller, Seth
Huang, Albert S.
Koch, Olivier A.
Walter, Matthew R.
Date Issued
July 2010
Journal
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Teller, Seth et al. "Ground robot navigation using uncalibrated cameras." Proceedings of the 2010 IEEE International Conference on Robotics and Automation: 2423-2430. © 2010 IEEE.
Version
Final published version
Abstract
Precise calibration of camera intrinsic and extrinsic parameters, while often useful, is difficult to obtain during field operation and presents scaling issues for multi-robot systems. We demonstrate a vision-based approach to navigation that does not depend on traditional camera calibration, and present an algorithm for guiding a robot through a previously traversed environment using a set of uncalibrated cameras mounted on the robot. On the first excursion through an environment, the system builds a topological representation of the robot's exploration path, encoded as a place graph. On subsequent navigation missions, the method localizes the robot within the graph and provides robust guidance to a specified destination. We combine this method with reactive collision avoidance to obtain a system able to navigate the robot safely and reliably through the environment. We validate our approach with ground-truth experiments and demonstrate the method on a small ground rover navigating through several dynamic environments.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509325
