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Stereo-based visual navigation of mobile robots in unknown environments

H. Soltani, H. D. Taghirad, A.R. Norouzzadeh Ravari
2012 20th Iranian Conference on Electrical Engineering (ICEE2012)  
Finally, the mobile robot explores for a desired object in an unknown environment through these steps.  ...  In this paper a stereo vision-based algorithm for mobile robots navigation and exploration in unknown outdoor environments is proposed.  ...  In this paper, we propose an algorithm for visual navigation of mobile robots in unknown outdoor environments based on stereo vision and visual odometry.  ... 
doi:10.1109/iraniancee.2012.6292489 fatcat:fz5b3mq34jb3jea7qfgl6ovlpy

Development of a Visual Odometry System for a Wheeled Robot on Loose Soil using a Telecentric Camera

Keiji Nagatani, Ayako Ikeda, Genya Ishigami, Kazuya Yoshida, Isaku Nagai
2010 Advanced Robotics  
After that, the results of experiments in indoor (sandbox) and outdoor (seashore) environments are introduced. keywords: mobile robot positioning, visual odometry, telecentric camera  ...  In this paper, the development of a 3-dimensional odometry system for wheeled robots on loose soil in an application of planetary exploration is described.  ...  A vision-based approach is an effective non-contact method for the positioning of mobile robots, particularly outdoors.  ... 
doi:10.1163/016918610x501282 fatcat:t6jcx2usjjg2rmlyniina4vj5a

Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS

M. Agrawal, K. Konolige
2006 18th International Conference on Pattern Recognition (ICPR'06)  
We describe a real-time, low-cost system to localize a mobile robot in outdoor environments.  ...  Our system uses inertial measurements to fill in motion estimates when visual odometry fails.  ...  We hope to have demonstrated stereo vision as a powerful sensor for localization of mobile robots in outdoor environments.  ... 
doi:10.1109/icpr.2006.962 dblp:conf/icpr/AgrawalK06 fatcat:7ripybzck5eozekfzoijcwu2qq

Autonomous Navigation with ROS for a Mobile Robot in Agricultural Fields

Mark A. Post, Alessandro Bianco, Xiu T. Yan
2017 Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics  
shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers.  ...  In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the  ...  The authors gratefully acknowledge the work of the Rutherford Appleton Laboratories (RAL) Autonomous Systems Group for the design and construction of the mechanical platform for the rover, the James Hutton  ... 
doi:10.5220/0006434400790087 dblp:conf/icinco/PostBY17 fatcat:66orvn3l4bawddhmdkridw6xza

Fast and Robust Bio-inspired Teach and Repeat Navigation [article]

Dominic Dall'Osto and Tobias Fischer and Michael Milford
2021 arXiv   pre-print
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem.  ...  6000 metres in a range of challenging indoor and outdoor environments.  ...  Acknowledgements: We would like to thank Suman Bista for kindly providing code for [12] for comparisons.  ... 
arXiv:2010.11326v3 fatcat:7zm7qwxefvg67kw4wp2femke3u

Experimental validation of a visual odometry system for indoor unstructured environments

Joao Rodrigues, Carlos Cardeira, Fernando Carreira, Joao M. F. Calado, Paulo Oliveira
2013 2013 16th International Conference on Advanced Robotics (ICAR)  
The visual odometry has a common practice for localization of mobile robots.  ...  system for attitude of a mobile robot with great precision.  ... 
doi:10.1109/icar.2013.6766496 dblp:conf/icar/RodriguesCCCO13a fatcat:456aysoycfdxze3vs6v6hg7ggq

Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain

G. Ishigami, E. Pineda, J. Overholt, G. Hudas, K. Iagnemma
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented.  ...  In addition, an odometry method that mitigates position estimation error due to wheel slippage is proposed.  ...  Performance Analysis and Odometry Improvement of an Omnidirectional Mobile Robot for Outdoor Terrain ABSTRACT In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain  ... 
doi:10.1109/iros.2011.6094585 dblp:conf/iros/IshigamiPOHI11 fatcat:bs5eyi3ph5czrpt7fh6zhqohmq

Approaches, Challenges, and Applications for Deep Visual Odometry: Toward to Complicated and Emerging Areas [article]

Ke Wang, Sai Ma, Junlan Chen, Fan Ren
2020 arXiv   pre-print
We also summarize the complicated and emerging areas of Deep VO, such as mobile robots, medical robots, augmented reality and virtual reality, etc.  ...  Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments.  ...  In mobile robotic systems, the autonomous vehicle is a rapidly advancing application area of visual odometry with unstructured environments [109] - [111] .  ... 
arXiv:2009.02672v1 fatcat:zdnwt4lpmvbiromtpcxhxxpjxa

Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain

Genya Ishigami, Elvine Pineda, Jim Overholt, Greg Hudas, Karl Iagnemma
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented.  ...  In addition, an odometry method that mitigates position estimation error due to wheel slippage is proposed.  ...  Performance Analysis and Odometry Improvement of an Omnidirectional Mobile Robot for Outdoor Terrain ABSTRACT In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain  ... 
doi:10.1109/iros.2011.6048250 fatcat:3mryzmqc4zcabn3y4r6ensbkl4

PanoraMIS: An ultra-wide field of view image dataset for vision-based robot-motion estimation

Houssem-Eddine Benseddik, Fabio Morbidi, Guillaume Caron
2020 The international journal of robotics research  
is well suited to rigorously validate novel image-based robot-motion estimation algorithms, including visual odometry, visual SLAM, and deep learning-based methods.  ...  The dataset covers a large spectrum of panoramic cameras (catadioptric, twin-fisheye), robotic platforms (wheeled, aerial, and industrial robots), and testing environments (indoors and outdoors), and it  ...  This work was carried out as part of the Interreg VA France (Channel) England ADAPT project "Assistive Devices for empowering disAbled People through robotic Technologies": http://adapt-project.com/index-en.php  ... 
doi:10.1177/0278364920915248 fatcat:hcqygwig2bahbbydcbphgl5hdi

Visual Odometry Algorithm Using an RGB-D Sensor and IMU in a Highly Dynamic Environment [chapter]

Deok-Hwa Kim, Seung-Beom Han, Jong-Hwan Kim
2015 Advances in Intelligent Systems and Computing  
The experiments demonstrate that visual odometry is successfully obtained for a subject and a mobile robot by the proposed algorithm in a highly dynamic environment.  ...  The comparative study between proposed method and conventional visual odometry algorithm clearly show the reliability of the approach for computing visual odometry in a highly dynamic environment.  ...  Acknowledgment This work was supported by the Technology Innovation Program, 10045252, Development of robot task intelligence technology, funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea  ... 
doi:10.1007/978-3-319-16841-8_2 fatcat:og4pv722sfbbrjmz3b6mbceesi

Visual topological SLAM and global localization

A. Angeli, S. Doncieux, J.-A. Meyer, D. Filliat
2009 2009 IEEE International Conference on Robotics and Automation  
Visual localization and mapping for mobile robots has been achieved with a large variety of methods.  ...  In this paper, we propose an extension of this work by integrating metrical information from robot odometry in the topological map, so as to obtain a globally consistent environment model.  ...  ACKNOWLEDGEMENT The authors would like to thank Nicolas Beaufort for his contribution to the implementation of this work.  ... 
doi:10.1109/robot.2009.5152501 dblp:conf/icra/AngeliDMF09 fatcat:kc6ipothkzdjfiuxxupq5vxque

Robust visual path following for heterogeneous mobile platforms

Aveek Das, Oleg Naroditsky, Zhiwei Zhu, Supun Samarasekera, Rakesh Kumar
2010 2010 IEEE International Conference on Robotics and Automation  
We present an innovative path following system based upon multi-camera visual odometry and visual landmark matching.  ...  This technology enables reliable mobile robot navigation in real world scenarios including GPS-denied environments both indoors and outdoors.  ...  A method for navigation using local feature graphs and visual servoing is proposed in [16] with an application to outdoor path following as shown in [17] .  ... 
doi:10.1109/robot.2010.5509699 dblp:conf/icra/DasNZSK10 fatcat:xdhvhnvwwrczrdnybfy6tcja2m

Performance of Different SLAM Algorithms for Indoor and Outdoor Mapping Applications

Burak Akpınar
2021 Applied System Innovation  
Indoor and outdoor mapping studies can be completed relatively quickly, depending on the developments in Mobile Mapping Systems.  ...  For this purpose, a mobile mapping platform using Velodyne VLP-16 LIDAR sensor was developed, and the odometer drift, which causes loss of accuracy in the data collected, was minimized by loop closure  ...  Metric‐Based Scan Matching Algorithms for Mobile Robot Displacement Estimation.  ... 
doi:10.3390/asi4040101 fatcat:k6levnai35e3vjnczsqmbdbefm

Building an Integrated Mobile Robotic System for Real-Time Applications in Construction [article]

Khashayar Asadi, Hariharan Ramshankar, Harish Pullagurla, Aishwarya Bhandare, Suraj Shanbhag, Pooja Mehta, Spondon Kundu, Kevin Han, Edgar Lobaton, Tianfu Wu
2018 arXiv   pre-print
This is done by integrating contextual Awareness and visual SLAM into a ground robotics agent.  ...  This paper presents the hardware utilization and performance of the aforementioned system for three different outdoor environments, which represent the applicability of this pipeline to diverse outdoor  ...  Conclusion This paper presents an integrated mobile robotic system that runs multiple vision-based components in real-time.  ... 
arXiv:1803.01745v3 fatcat:47jyqif53zcu3fkxdpmghded3m
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