Topological mapping and navigation based on visual sensor network
Yuan WB(袁文博); Cao ZQ(曹志强); Tan M(谭民); Liu JY(刘敬禹); Yuan WB(袁文博)
2014
会议名称2014 IEEE International Conference on Mechatronics and Automation
会议录名称2014 IEEE International Conference on Mechatronics and Automation
会议日期2014
会议地点Tianjin, China
摘要In this paper, a novel topological mapping approach applied to the navigation mission is proposed based on visual sensor network. Firstly, the natural objects in the scene monitored by visual sensor network are recognized through the inference model based on structural features. Then, topological nodes are designed according to the recognized objects and their spatial structure information, and topological mapping will be fulfilled. On this basis, global localization for mobile robot in camera view can be implemented with HOG feature based detection and tracking. Finally, the robot can make motion decisions for navigation. Our approach does not rely on artificial landmarks and is tested in large-scale office scene. The effectiveness of the proposed approach is verified.
关键词Visual Sensor Network Topological Mapping Navigation Mobile Robot
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/11763
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yuan WB(袁文博)
推荐引用方式
GB/T 7714
Yuan WB,Cao ZQ,Tan M,et al. Topological mapping and navigation based on visual sensor network[C],2014.
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