Skip to Main content Skip to Navigation
Conference papers

Visually-Guided Robot Navigation: From Artificial To Natural Landmarks

Abstract : Landmark-based navigation in unknown unstructured environments is far from solved. The bottleneck nowadays seems to be the fast detection of reliable visual references in the image stream as the robot moves. In our research, we have decoupled the navigation issues from this visual bottleneck, by first using artificial landmarks that could be easily detected and identified. Once we had a navigation system working, we developed a strategy to detect and track salient regions along image streams by just performing on-line pixel sampling. This strategy continuously updates the mean and covariances of the salient regions, as well as creates, deletes and merges regions according to the sample flow. Regions detected as salient can be considered as potential landmarks to be used in the navigation task.
Document type :
Conference papers
Complete list of metadata

Cited literature [11 references]  Display  Hide  Download

https://hal.inria.fr/inria-00196177
Contributor : Inria Rhône-Alpes Documentation Connect in order to contact the contributor
Submitted on : Wednesday, December 12, 2007 - 12:21:27 PM
Last modification on : Thursday, September 9, 2021 - 9:38:06 AM
Long-term archiving on: : Thursday, September 27, 2012 - 11:15:36 AM

File

fsr_60.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00196177, version 1

Collections

Citation

Enric Celaya, Jose-Luis Albarral, Pablo Jiménez, Carme Torras. Visually-Guided Robot Navigation: From Artificial To Natural Landmarks. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00196177⟩

Share

Metrics

Record views

133

Files downloads

483