Topological mapping and navigation based on visual sensor network

	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	复杂系统认知与决策实验室_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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