Selection of an optimal set of landmarks for vision-based navigation.

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Recent work in the object recognition community has yielded a class of interest point-based features that are stable under significant changes in scale, viewpoint, and illumination, making them ideally suited to landmark-based navigation. Although many such features may be visible in a given view of the robot"s environment, only a few such features are necessary to estimate the robot"s position and orientation. In this thesis, we address the problem of automatically selecting, from the entire set of features visible in the robot"s environment, the minimum (optimal) set by which the robot can navigate its environment. Specifically, we decompose the world into a small number of maximally sized regions such that at each position in a given region, the same small set of features is visible. We introduce a novel graph theoretic formulation of the problem and prove that it is NP-complete. Next, we introduce a number of approximation algorithms and evaluate them on both synthetic and real data.

The Physical Object
Pagination103 leaves.
ID Numbers
Open LibraryOL19512417M
ISBN 100612952754

Selection of an Optimal Set of Landmarks for Vision-Based Navigation Pablo L.

Details Selection of an optimal set of landmarks for vision-based navigation. PDF

Sala Master in Computer Science Graduate Department of Computer Science University of Toronto Recent work in the object recognition community has yielded a class of interest point-based features that are stable under signi cant changes in scale, viewpoint, and. Landmark Selection for Vision-Based Navigation let the robot automatically decide on an optimal set of visual landmarks for navigation.

What constitutes a good landmark. vision-based navigation by Basri and Rivlin and Wilkes et al. [7]. Delaune et al. [20] proposed to delete the landmarks that are too close to one another when constructing the database, their approach results in the reduction of feature mis-matching.

Many vision-based navigation systems are restricted to the use of only a limited number of landmarks when computing the camera pose.

This limitation is due. vision-aided navigation approach explored in this thesis entails defining a set of inertial landmarks, the locations of which are known within the environment, and employing image processing algorithms to detect these landmarks in image frames collected from an onboard monocular camera.

These vision-based landmark measurements effectivelyAuthor: Tennyson Samuel John. ELSEVIER Robotics and Autonomous Systems 23 () Robotics and Autonomous Systems Optimal landmark selection for triangulation of robot position* Claus B.

Madsen *, Claus S. Andersen Laboratory of lmage Analysis, Aalborg University, Fr. Bajers Vej 7D I, DK Aalborg East, Denmark Abstract A mobile robot can identify its own position relative to a global Cited by: Vision based Robot Localization and Mapping using Scale Invariant Features •Goal: Simultaneous Localization and Map Building using stable visual features.

•Evaluated in an indoor environment. •Prior Work: Used laser scanners and range finders for SLAM •Limited range.

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•Unsatisfactory description of the Size: 6MB. vision for mobile robot navigation is that even the perception of what constitutes progress varies widely in the research community. To us, for a mobile robot to engage in vision-based hallway navigation in the kinds of environ-ments shown in Fig.

1 represents significant progress for the entire research community. But, others would pooh-pooh. Mynorca is a vision-based navigation system for mobile robots, designed principally for operation in indoor environments.

The system uses vision for detecting obstacles and locating natural landmarks. In addition, it is able to solve navigation problems in which the robot’s initial location is completely by: 3.

The vision-based navigation (VISNAV) system de-scribed in this paper comprises an optical sensor of a new kind combined with specific light sources (bea-cons) in order to achieve a selective or “intelligent” vision. The sensor is made up of a Position Sens-ing Diode (PSD) placed in the focal plane of a wide angle lens.

ABSOLUTE NAVIGATION USING THE FEIC We have been investigating the possible integration of the FEIC algorithm with vision-based absolute navigation systems, in which the position and orientation of the spacecraft relative to the target body coordinate frame is determined by triangulation from a set of pre-defined ‘known landmarks’.

Vision-based Navigation and Environmental Representations with an Omni-directional Camera Jos´e Gaspar, Member,IEEE, Most of the research on vision-based navigation has been cen- identified by recognizable landmarks. The required navigation skills are the ability to follow roads.

This paper presents a vision-based navigation strategy for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) using a single embedded camera observing natural landmarks.

In the proposed approach, images of the environment are first sampled, stored and organized as a set of ordered key images (visual path) which provides a Cited by: Vision-Based Estimation for Guidance, Navigation, and Control of an Aerial Vehicle M. KAISER Air Force Research Laboratory N.

GANS, Member, IEEE University of Texas, Dallas W. DIXON, Senior Member, IEEE University of Florida While a Global Positioning System (GPS) is the most widely used sensor modality for aircraft navigation, researchers.

Vision-based Pose Estimation A control ut for the UKF is obtained from the robot’s mo-tion. We use an odometry motion model here, utilizing the data from the robot’s wheel encoders (Thrun et al. As observations zt, we extract Speeded-Up Robust Fea-tures (Bay et al.

) from the camera images as visual landmarks, as depicted in. optimal set of candidates. Our results yield an overall speedup and energy reduction of X along with a 94X EDP reduction for the domain.

Finally, we investigate the effects of various interconnect models on our performance improvements. Overall, our proposed system is shown to be highly efficient in both ac. Lingyu Ma, Soon-Jo Chung, and Seth Hutchinson, "Monocular Vision based Navigation using Image Moments of Polygonal Features," under review.

Description Selection of an optimal set of landmarks for vision-based navigation. FB2

This paper presents a novel monocular-vision-based. TOPOLOGICAL LANDMARK-BASED NAVIGATION AND MAPPING 5 SPACES:A topological space is a set X outfitted with a topology, a listing of all open subsets of X. A topologymust be closed under finite intersection and arbitrary union, andmustcontainbothX andtheemptyset.

Mostconceptsfamiliar frombasicanalysis. Mobile Robot Vision Navigation. We present a vision-based navigation and localization system using two biologically-inspired scene understanding models which are studied from human visual capabilities: (1) Gist model which captures the holistic characteristics and layout of an image and (2) Saliency model which emulates the visual attention of primates to identify conspicuous.

Localization for the controller is provided by an on-board, vision-based mapping and navigation system enabling operation in large-scale, GPS-denied environments. The paper presents experimental results including over km of travel by three significantly different robot platforms with masses ranging from 50 kg to kg and at speeds ranging.

Autonomous navigation is a key enabling technology for future planetary exploration mission. For planetary landers and rovers, as well as interplanetary navigation and rendez-vous, vision based navigation concepts, working on complex, potentially unstructured, scenes, appear as the most promising Size: 2MB.

Vision-Based Road-Following Using Proportional Navigation Ryan S. Holt and Randal W. Beardy Abstract This paper describes a new approach for autonomous guidance along a road for an unmanned air vehicle (UAV) using a visual sensor.

A road is defined as any continuous, extended, curvilinear feature, which can include city streets, highways. In this work we present a novel system for autonomous mobile robot navigation. With only an omnidirectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment.

It can localise itself using such a map at each moment, including both at startup (kidnapped Cited by: A method for estimating pose from a sequence of images, which includes the steps of detecting at least three feature points in both the left image and right image of a first pair of stereo images at a first point in time; matching the at least three feature points in the left image to the at least three feature points in the right image to obtain at least three two-dimensional feature Cited by: This two-volume set constitutes the refereed proceedings of the 5th European Conference on Computer Vision, ECCV'98, held in Freiburg, Germany, in June The 42 revised full papers and 70 revised posters presented were carefully selected from a.

Omnidirectional Vision Based Topological Navigation servoing algorithm: each time a visual homing proce-dure is executed towards the location where the next path image is taken. The main contributions of this paper are: 1. A fast wide baseline matching technique, which al-lows efficient, online comparison of images, 2.

Integrity Monitoring Techniques for Vision Navigation Systems. In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well established with set standards. Vision based navigation systems have been found to be an adequate substitute for GPS, when it is unavailable but are unlikely to be utilizedCited by: 1.

Methods. The apparatus for the entire system was comprised of 3D stereo camera and the 3D-IV imaging system, as shown in Fig. used two computer systems; one to track the surgical procedure using stereo vision and the other to generate 3D-IV images for a projected by: Burschka, D & Hager, GDPrinciples and practice of real-time visual tracking for Navigation and Mapping.

in Proceedings of the International Workshop on Robot Sensing. Proceedings of the International Workshop on Robot Sensing, pp.Proceedings of the International Workshop on Robot Sensing, Graz, Austria, 5/24/Cited by: Navigation (TRAN), relies on complex Image Processing Software (IPS) that are not compatible with flight computers and have an obvious lack of robustness.

To be usable in future pinpoint landing missions, vision-based navigation technology must meet the following well-established requirements: 1. High accuracy: The navigation system shall provide. Vision-based markerless registration using stereo vision and an augmented reality surgical navigation system: a pilot study Hideyuki Suenaga1*, Huy Hoang Tran2, Hongen Liao3,4, Ken Masamune2,5, Takeyoshi Dohi6, Kazuto Hoshi1 and Tsuyoshi Takato1 AbstractCited by: Vision-based navigation.

Vision-based navigation or optical navigation uses computer vision algorithms and optical sensors, including laser-based range finder and photometric cameras using CCD arrays, to extract the visual features required to the localization in the surrounding environment.

However, there are a range of techniques for navigation and localization using .GPS (Global Positioning System) navigation in agriculture is facing many challenges, such as weak signals in orchards and the high cost for small plots of farmland.

With the reduction of camera cost and the emergence of excellent visual algorithms, visual navigation can solve the above problems. Visual navigation is a navigation technology that uses cameras to sense Cited by: 2.