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Visual Memory Construction for Autonomous Humanoid Robot Navigation

  • A. López-MartínezEmail author
  • F. J. Cuevas
  • J. V. Sosa-Balderas
Conference paper
Part of the Springer Proceedings in Physics book series (SPPHY, volume 233)

Abstract

A visual memory (VM) is a topological map that represents an environment as a direct graph of key images. Thus, visual information acquired from cameras onboard the robot are the only data to construct the map. This work presents the construction of a VM suited for the humanoid robot navigation framework. Additionally, a genetic algorithm that estimates the epipolar geometry is proposed to tackle the problem of image matching used within the VM construction process. Experimental results using a humanoid robot dataset are presented to validate the efficacy of our approach. Further, the solution for image matching based on the proposed genetic algorithm was compared with RANSAC.

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • A. López-Martínez
    • 1
    Email author
  • F. J. Cuevas
    • 1
  • J. V. Sosa-Balderas
    • 1
  1. 1.Optical Metrology, Centro de Investigaciones en Óptica A. C.LeónMexico

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