Appearance-based Indoor Navigation by IBVS using Line Segments

Suman Raj Bista 1 Paolo Robuffo Giordano 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a method for image-based navigation from an image memory using line segments as landmarks. The entire navigation process is based on 2D image information without using any 3D information at all. The environment is represented by a set of reference images with overlapping landmarks, which are acquired during a prior learning phase. These reference images define the path to follow during the navigation. The switching of reference images is done exploiting the line segment matching between the current acquired image and nearby reference images. Three view matching result is used to compute the rotational velocity of a mobile robot during its navigation by visual servoing. Real-time navigation has been validated inside a corridor and inside a room with a Pioneer 3DX equipped with an on-board camera. The obtained results confirm the viability of our approach, and verify that accurate mapping and localization are not necessary for a useful indoor navigation as well as that line segments are better features in the structured indoor environment.
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IEEE Robotics and Automation Letters, IEEE 2016, 1 (1), pp.423-430
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Suman Raj Bista, Paolo Robuffo Giordano, François Chaumette. Appearance-based Indoor Navigation by IBVS using Line Segments. IEEE Robotics and Automation Letters, IEEE 2016, 1 (1), pp.423-430. 〈hal-01259750〉

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