Abstract
Pure appearance based visual maps can be constructed without considering any 3-D spatial information, nevertheless they can be used for robot localization and navigation. This paper proposes a topological framework capable of coordinate multi-agent navigation through an appearance based topological map using only grabbed images as sensory data. A novel image based optimal feature planner is presented, that allows optimal vehicle trajectories. The planner uses a pure visual-based control with a calibrated visual sensor that takes into-account the field-of-view (FOV) constraint of low-cost monocular cameras in order to keep the tracked features in sight while the robot manoeuvres.
Work supported by E.C. under contracts IST-2004-004536 “RUNES”and IST-2004-511368 “HYCON”.
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Fontanelli, D., Salaris, P., Belo, F.A.W., Bicchi, A. (2009). Visual Appearance Mapping for Optimal Vision Based Servoing. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_41
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DOI: https://doi.org/10.1007/978-3-642-00196-3_41
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