Indoor navigation of a non-holonomic mobile robot using a visual memory

Autonomous Robots

Volumn 25, Issue 3, 2008, Pages 253-266

  Courbon, Jonathan ^a   Mezouar, Youcef ^a   Martinet, Philippe ^a  

^a UNIVERSITÉ BLAISE PASCAL   (France)

Author keywords

Central camera; Mobile robot; Visual navigation; Visual based control

Indexed keywords

CAMERAS; MOBILE ROBOTS; NAVIGATION; ROBOTICS; ROBOTS; STANDARDS;

CENTRAL CAMERA; CENTRAL CATADIOPTRIC; DEDICATED HARDWARE; HOMOGRAPHIES; INDOOR NAVIGATION; MOBILE ROBOT; NON-HOLONOMIC; NON-HOLONOMIC CONSTRAINT; OMNI-DIRECTIONAL CAMERAS; ROBOT NAVIGATION; UNKNO WN ENVIRONMENTS; VISUAL MEMORIES; VISUAL NAVIGATION; VISUAL-BASED CONTROL; WHEELED MOBILE ROBOTS;

VISUAL SERVOING;

EID: 52949141447     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-008-9093-8     Document Type: Article

References (29)

1. S. Arulampalam S. Maskell N. Gordon T. Clapp 2002 A tutorial on particle filters for on-line non-linear/non-Gaussian Bayesian tracking IEEE Transactions on Signal Processing 50 174 188
2. Barreto, J., & Araujo, H. (2002). Geometric properties of central catadioptric line images. In 7th European conference on computer vision, ECCV'02 (pp. 237-251). Copenhagen, Denmark.
3. Bascle, B., Bouthemy, P., Deriche, R., & Meyer, F. (1994). Tracking complex primitives in an image sequence. In 12th international conference on pattern recognition (pp. 426-431).
4. Benosman, R., & Kang, S. (2000). Panoramic vision. New York: Springer. ISBN 0-387-95111-3.
5. A. Blake R. Curwen A. A. Zisserman 1993 A framework for spatiotemporal control in the tracking of visual contours International Journal of Computer Vision 11 127 145
6. Chen, J., Dixon, W. E., Dawson, D. M., & McIntire, M. (2003). Homography-based visual servo tracking control of a wheeled mobile robot. In International conference on intelligent robots and systems (pp. 1814-1819). Las Vegas, Nevada.
7. G. N. DeSouza A. C. Kak 2002 Vision for mobile robot navigation: A survey IEEE Transactions on Pattern Analysis and Machine Intelligence 24 2 237 267
8. O. Faugeras F. Lustman 1988 Motion and structure from motion in a piecewise planar environment International Journal of Pattern Recognition and Artificial Intelligence 2 3 485 508
9. Geyer, C., & Daniilidis, K. (2000). A unifying theory for central panoramic systems and practical implications. In European conference on computer vision (Vol. 29(3), pp. 159-179). Dublin, Ireland.
10. Geyer, C., & Daniilidis, K. (2003). Mirrors in motion: Epipolar geometry and motion estimation. In International conference on computer vision, ICCV03 (pp. 766-773). Nice, France.
11. Hayet, J. B., Lerasle, F., & Devy, M. (2002). A visual landmark framework for indoor mobile robot navigation. In International conference on robotics and automation (ICRA'02) (pp. 3942-3947). Washington DC, USA.
12. M. Isard A. Blake 1998 Condensation-conditional density propagation for visual tracking International Journal of Computer Vision 29 5 28
13. Jones, S. D., Andersen, C., & Crowley, J. L. (1997). Appearance based processes for visual navigation. In IEEE/RSJ international conference on intelligent robots and systems (Vol. 2, pp. 551-557). Grenoble, France.
14. M. Kass A. Witkin D. Terzopoulos 1988 Snakes: active contours International Journal of Computer Vision 1 321 331
15. H. C. Longuet-Higgins 1981 A computer algorithm for reconstructing a scene from two projections Nature 293 133 135
16. López-Nicolás, G., Sagüés, C., Guerrero, J. J., Kragic, D., & Jensfelt, P. (2006). Nonholonomic epipolar visual servoing. In International conference on robotics and automation (ICRA'06) (pp. 2378-2384).
17. Q.-T. Luong O. Faugeras 1996 The fundamental matrix: theory, algorithms, and stability analysis International Journal of Computer Vision 17 1 43 76
18. Y. Ma J. Kosecka S. S. Sastry 1999 Vision guided navigation for a nonholonomic mobile robot IEEE Transactions on Robotics and Automation 15 3 521 337
19. E. Malis F. Chaumette 2000 2 1/2 d visual servoing with respect to unknown objects through a new estimation scheme of camera displacement International Journal of Computer Vision 37 1 79 97
20. E. Malis F. Chaumette S. Boudet 1999 2 1/2 d visual servoing IEEE Transactions on Robotics and Automation 15 2 238 250
21. Matsumoto, Y., Inaba, M., & Inoue, H. (1996). Visual navigation using view-sequenced route representation. In Proc. of the IEEE international conference on robotics and automation (Vol. 1, pp. 83-88). Minneapolis, Minnesota.
22. Matsumoto, Y., Ikeda, K., Inaba, M., & Inoue, H. (1999). Visual navigation using omnidirectional view sequence. In Int. conf. on intelligent robots and systems (pp. 317-322).
23. Nierobisch, T., Krettek, J., Khan, U., & Hoffmann, F. (2007). Optimal large view visual servoing with sets of SIFT features. In IEEE international conference on robotics and automation, ICRA'07 (pp. 2092-2097).
24. Remazeilles, A., Chaumette, F., & Gros, P. (2004). Robot motion control from a visual memory. In IEEE int. conf. on robotics and automation, ICRA'04 (Vol. 4, pp. 4695-4700). New Orleans.
25. Royer, E., Lhullier, M., Dhome, M., & Chateau, T. (2004). Towards an alternative GPS sensor in dense urban environment from visual memory. In British machine vision conference (Vol. 1, pp. 197-206). Kingston, England.
26. C. Samson 1995 Control of chained systems. application to path following and time-varying stabilization of mobile robots IEEE Transactions on Automatic Control 40 1 64 77
27. Svoboda, T., Pajdla, T., & Hlavac, V. (1998). Motion estimation using central panoramic cameras. In IEEE conference on intelligent vehicles (pp. 335-340). Stuttgart, Germany.
28. Tsakiris, D., Rives, P., & Samson, C. (1998). Extending visual servoing techniques to nonholonomic mobile robots. In G. Hager, D. Kriegman, & A. Morse (Eds.), LNCIS: Vol. 237. The confluence of vision and control (pp. 106-117). Berlin: Springer.
29. Y. Zhong A. K. Jain M. P. Dubuisson 2000 Object tracking using deformable templates IEEE Transactions on Pattern Analysis and Machine Intelligence 22 544 549