Vision-Based Path Following Without Calibration

Route-based knowledge, in which the spatial layout of an environment is recorded from the perspective of a ground-level observer, is an important component of human and animal navigation systems (Shelton & Gabrieli, 2002). In this representation, navigating from one location to another involves comparing current visual inputs with a sequence of views captured along the path in a previous instance. Applications that would benefit from such a path-following capability include courier and delivery robots (Burgard et al., 1999), robotic tour guides (Shen & Hu, 2006), or reconnaissance robots following a scout (Crawford et al., 2004). Furthermore, a solution to this problem would be useful for the general problem of navigating between two arbitrary locations in an environment by following a sequence of such paths.

[1]  Yann LeCun,et al.  Off-Road Obstacle Avoidance through End-to-End Learning , 2005, NIPS.

[2]  Sinisa Segvic,et al.  Large scale vision-based navigation without an accurate global reconstruction , 2007, 2007 IEEE Conference on Computer Vision and Pattern Recognition.

[3]  Philippe Gaussier,et al.  Visual navigation in an open environment without map , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[4]  Zhichao Chen,et al.  Qualitative vision-based mobile robot navigation , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[5]  Shahriar Negahdaripour,et al.  A generalized brightness change model for computing optical flow , 1993, 1993 (4th) International Conference on Computer Vision.

[6]  Juyang Weng,et al.  Incremental learning for vision-based navigation , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[7]  Huosheng Hu,et al.  Visual Navigation of a Museum Guide Robot , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[8]  Gregory Dudek,et al.  Learning environmental features for pose estimation , 2001, Image Vis. Comput..

[9]  Masayuki Inaba,et al.  Visual navigation using view-sequenced route representation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[10]  James L. Crowley,et al.  Appearance based processes for visual navigation , 1997 .

[11]  Illah R. Nourbakhsh,et al.  Appearance-based place recognition for topological localization , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Avinash C. Kak,et al.  Fast vision-guided mobile robot navigation using model-based reasoning and prediction of uncertainties , 1992, CVGIP Image Underst..

[13]  François Chaumette,et al.  Image-based robot navigation from an image memory , 2007, Robotics Auton. Syst..

[14]  Randal C. Nelson,et al.  Using Flow Field Divergence For Obstacle Avoidance: Towards Qualitative Vision , 1988, [1988 Proceedings] Second International Conference on Computer Vision.

[15]  Giulio Sandini,et al.  Divergent stereo in autonomous navigation: From bees to robots , 1995, International Journal of Computer Vision.

[16]  Javaan Chahl,et al.  Biomimetic Visual Sensing and Flight Control , 2002 .

[17]  Nick Pears,et al.  Visual navigation using planar homographies , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[18]  Avinash C. Kak,et al.  Vision for Mobile Robot Navigation: A Survey , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[19]  Ashutosh Saxena,et al.  High speed obstacle avoidance using monocular vision and reinforcement learning , 2005, ICML.

[20]  Josechu J. Guerrero,et al.  Visual correction for mobile robot homing , 2005, Robotics Auton. Syst..

[21]  Simon Baker,et al.  Lucas-Kanade 20 Years On: A Unifying Framework , 2004, International Journal of Computer Vision.

[22]  Tieniu Tan,et al.  Mobile robot self-localization based on global visual appearance features , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[23]  Michel Dhome,et al.  Monocular Vision for Mobile Robot Localization and Autonomous Navigation , 2007, International Journal of Computer Vision.

[24]  Laurent Itti,et al.  Robot steering with spectral image information , 2005, IEEE Transactions on Robotics.

[25]  Christopher G. Harris,et al.  A Combined Corner and Edge Detector , 1988, Alvey Vision Conference.

[26]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[27]  Darius Burschka,et al.  Vision-based control of mobile robots , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[28]  Jana Kosecka,et al.  Qualitative image based localization in indoors environments , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[29]  Shin'ichi Yuta,et al.  Vision based navigation for mobile robots in indoor environment by teaching and playing-back scheme , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[30]  Ben J. A. Kröse,et al.  A probabilistic model for appearance-based robot localization , 2001, Image Vis. Comput..

[31]  Philippe Gaussier,et al.  Robust Mapless Outdoor Vision-Based Navigation , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[32]  François Michaud,et al.  Performance Evaluation of Sensor Combinations on Mobile Robots for Automated Platoon Control , 2004 .

[33]  J. Gabrieli,et al.  Neural Correlates of Encoding Space from Route and Survey Perspectives , 2002, The Journal of Neuroscience.

[34]  Carlos Sagues,et al.  Uncalibrated vision based on lines for robot navigation , 2001 .

[35]  Wolfram Burgard,et al.  Using an Image Retrieval System for Vision-Based Mobile Robot Localization , 2002, CIVR.

[36]  Masayuki Inaba,et al.  View-based approach to robot navigation , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[37]  Ian Horswill,et al.  Polly: A Vision-Based Artificial Agent , 1993, AAAI.

[38]  Carlo Tomasi,et al.  Good features to track , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.