3D navigation based on a visual memory

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 2719-2725

  Remazeilles, Anthony ^a   Chaumette, François ^b   Gros, Patrick ^a  

^a CAMPUS DE BEAULIEU   (France)

^b INRIA   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CAMERAS; COMPUTER SIMULATION; DIGITAL IMAGE STORAGE; MOTION PLANNING; ROBOTICS; TOPOLOGY;

ROBOT MOTION; TOPOLOGICAL REPRESENTATION; VISIBILITY PATH; VISUAL MEMORY;

NAVIGATION SYSTEMS;

EID: 33845608189     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642112     Document Type: Conference Paper

References (21)

1. E. Royer, M. Lhuiller, M. Dhome, and T. Chateau, "Towards an alternative gps sensor in dense urban environment from visual memory," in British Machine Vision Conference, London, England, Sept. 2004.
2. D. Burschka and G. D. Hager, "Vision-based control of mobile robots," in IEEE ICRA, Seoul, South Korea, May 2001, pp. 1707-1713.
3. S. Thrun, W. Burgard, and D. Fox, "A real time algorithm for mobile robot mapping with applications to multi-robot and 3d mapping," in IEEE ICRA, San Francisco, USA, April 2000, pp. 321-328.
4. S. Se, D. Lowe, and J. Little, "Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks," Intern. Journal of Robotics Research, vol. 21, no. 8, pp. 735-758, 2002.
5. N. X. Dao, B. J. You, S. R. Oh, and M. Hwangbo, "Visual self-localization for indoor mobile robots using natural lines," in IEEE IROS, Las Vegas, USA, 2003, pp. 1252-1255.
6. D. Cobzas, H. Zhang, and M. Jagersand, "Image-based localization with depth-enhanced image map," in IEEE ICRA, Taipeh, Taiwan, May 2003, pp. 1570-1575.
7. C. Rasmussen and G. Hager, "Robot navigation using image sequences," in National Conference on Artificial Intelligence, vol. 2, Portland, USA, 1996, pp. 938-943.
8. J. Košecka, L. Zhou, P. Barber, and Z. Duric, "Qualitative image based localization in indoor environments," in IEEE CVPR, Madison, USA, June 2003, pp. 3-10.
9. A. Remazeilles, F. Chaumette, and P. Gros, "Robot motion control from a visual memory," in IEEE ICRA, vol. 4, New Orleans, USA, April 2004, pp. 4695-4700.
10. D. G. Lowe, "Distinctive image features from scale-invariant keypoints," Intern. Journal of Computer Vision, vol. 60, no. 2, pp. 91-110, 2004.
11. Y. Matsumoto, M. Inaba, and H. Inoue, "View-based approach to robot navigation," in IEEE IROS, Takamatsu, Japan, Oct. 2000, pp. 1702-1708.
12. Y. Mezouar and F. Chaumette, "Path planning for robust image-based control," IEEE Trans. on Robotics and Automation, vol. 18, no. 4, pp. 534-549, August 2002.
13. A. Argyros, C. Bekris, S. Orphanoudakis, and L. Kavraki, "Robot homing by exploiting panoramic vision," Journal of Autonomous Robots, vol. 19, no. 1, pp. 7-25, July 2005.
14. G. Blanc, Y. Mezouar, and P. Martinet, "Indoor navigation of a wheeled mobile robot along visual routes," in IEEE ICRA, Barcelona, Spain, April 2005.
15. Z. Zhang, R. Deriche, Q. Luong, and O. Faugeras, "A robust approach to image matching : Recovery of the epipolar geometry," Intern. Symposium of Young Investigators on Information-Computer-Control, 1994.
16. H. Jin, P. Favaro, and S. Soatto, "Real-time feature tracking and outlier rejection with changes in illumination," in IEEE Intern. Conference on Computer Vision, vol. 1, Vancouver, Canada, July 2001, pp. 684-689.
17. A. Shashua and N. Navab, "Relative affine structure: Canonical model for 3d from 2d geometry and applications," IEEE Trans. on PAMI, vol. 18, no. 9, pp. 873-883, Sept. 1996.
18. O. Faugeras and F. Lustman, "Motion and structure from motion in a piecewise planar environment," Intern. Journal of Pattern Recognition and Artificial Intelligence, vol. 2, pp. 485-508, 1988.
19. E. Malis, F. Chaumette, and S. Boudet, "2 1/2 d visual servoing," IEEE Trans. on Robotics and Automation, vol. 15, no. 2, pp. 238-250, April 1999.
20. C. Samson, M. Le Borgne, and B. Espiau, Robot control: The Task function approach. Oxford: Clarendon Press, 1991.
21. O. Tahri and F. Chaumette, "Image moments: Generic descriptors for decoupled image-based visual servo," in IEEE ICRA, vol. 2, New Orleans, USA, April 2004, pp. 1185-1190.