Robot Navigation by Panoramic Vision and Attention Guided Fetaures

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfil new requirements o...

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Bibliographic Details
Main Authors: Bur, A., Tapus, A., Ouerhani, N., Siegwart, R., Hugli, H.
Format: Conference Proceeding
Language:eng ; jpn
Subjects:
Cameras
Computer vision
Layout
Machine vision
Navigation
Robot localization
Robot vision systems
Robotics and automation
Robustness
Testing
Online Access:Request full text
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Summary:In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfil new requirements of robot versatility and robustness to environmental changes, we propose in this paper to perform the feature selection of a panoramic vision system by means of the saliency-based model of visual attention, a model known for its universality. The first part of the paper describes a localization system combining panoramic vision and visual attention. The second part presents a series of indoor localization experiments using panoramic vision and attention guided feature detection. The results show the feasibility of the approach and illustrate some of its capabilities
ISSN:1051-4651
2831-7475
DOI:10.1109/ICPR.2006.998