Visual Appearance Mapping for Optimal Vision Based Servoing

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.

[1]  Josechu J. Guerrero,et al.  Switched Homography-Based Visual Control of Differential Drive Vehicles with Field-of-View Constraints , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[2]  Hugh F. Durrant-Whyte,et al.  Mobile robot localization by tracking geometric beacons , 1991, IEEE Trans. Robotics Autom..

[3]  Michel Dhome,et al.  Monocular Vision Based SLAM for Mobile Robots , 2006, 18th International Conference on Pattern Recognition (ICPR'06).

[4]  Antonio Bicchi,et al.  Visual Servoing on Image Maps , 2006, ISER.

[5]  Rafael Murrieta-Cid,et al.  Optimal Paths for Landmark-Based Navigation by Differential-Drive Vehicles With Field-of-View Constraints , 2007, IEEE Transactions on Robotics.

[6]  Seth Hutchinson,et al.  Visual Servo Control Part I: Basic Approaches , 2006 .

[7]  Paolo Pirjanian,et al.  A Visual Front-end for Simultaneous Localization and Mapping , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[8]  Michel Dhome,et al.  Outdoor autonomous navigation using monocular vision , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Patrick Gros,et al.  Robot motion control from a visual memory , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  Antonio Bicchi,et al.  A Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback , 2004, Int. J. Robotics Res..

[11]  Dimitris P. Tsakiris,et al.  Applying Visual Servoing Techniques to Control Nonholonomic Mobile Robots , 1997 .

[12]  Ben J. A. Kröse,et al.  Hierarchical map building using visual landmarks and geometric constraints , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  James J. Little,et al.  Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks , 2002, Int. J. Robotics Res..

[14]  Ben J. A. Kröse,et al.  Navigation using an appearance based topological map , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[15]  François Chaumette,et al.  Visual servo control. I. Basic approaches , 2006, IEEE Robotics & Automation Magazine.

[16]  Nils J. Nilsson,et al.  A Formal Basis for the Heuristic Determination of Minimum Cost Paths , 1968, IEEE Trans. Syst. Sci. Cybern..

[17]  Tom Duckett,et al.  Mini-SLAM: Minimalistic Visual SLAM in Large-Scale Environments Based on a New Interpretation of Image Similarity , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[18]  Oussama Khatib,et al.  Experimental Robotics IV, The 4th International Symposium, Stanford, California, USA, June 30 - July 2, 1995 , 1997, ISER.

[19]  Andrew J. Davison,et al.  Real-time simultaneous localisation and mapping with a single camera , 2003, Proceedings Ninth IEEE International Conference on Computer Vision.

[20]  Selim Benhimane,et al.  Vision-based control with respect to planar and non-planar objects using a zooming camera , 2003 .

[21]  Ben J. A. Kröse,et al.  BIRON, where are you? Enabling a robot to learn new places in a real home environment by integrating spoken dialog and visual localization , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  Joao P. Hespanha,et al.  Single-camera visual servoing , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[23]  Philippe Martinet,et al.  Omnidirectional visual servoing from polar lines , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..