Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas

Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the A...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2011-12, Vol.64 (3-4), p.625-649
Main Authors: Ramisa, Arnau, Goldhoorn, Alex, Aldavert, David, Toledo, Ricardo, de Mantaras, Ramon Lopez
Format: Article
Language:English
Subjects:
Artificial Intelligence
Control
Electrical Engineering
Engineering
Homing
Invariants
Landmarks
Mathematical analysis
Mechanical Engineering
Mechatronics
Navigation
Robotics
Robots
Vectors (mathematics)
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Summary:Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the Average Landmark Vector with invariant feature points automatically detected in panoramic images to overcome this limitation. The proposed approach has been evaluated first in simulation and, as promising results are found, also in two data sets of panoramas from real world environments.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-011-9552-x