scholarly journals On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation

2007 ◽  
Author(s):  
Linthotage Dushantha Lochana Perera
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Unstructured Environments ◽  
Localization And Mapping

scholarly journals Multi-Focal Vision and Gaze Control Improve Navigation Performance

10.5772/50920 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 25 ◽  
Author(s):  
Kolja Kühnlenz ◽  
Martin Buss
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Active Vision ◽  
Path Following ◽  
Mobile Robot Navigation ◽  
Vision Systems ◽  
Localization Accuracy ◽  
Localization And Mapping ◽  
Novel Concept ◽  
The Impact

Multi-focal vision systems comprise cameras with various fields of view and measurement accuracies. This article presents a multi-focal approach to localization and mapping of mobile robots with active vision. An implementation of the novel concept is done considering a humanoid robot navigation scenario where the robot is visually guided through a structured environment with several landmarks. Various embodiments of multi-focal vision systems are investigated and the impact on navigation performance is evaluated in comparison to a conventional mono-focal stereo set-up. The comparative studies clearly show the benefits of multi-focal vision for mobile robot navigation: flexibility to assign the different available sensors optimally in each situation, enhancement of the visible field, higher localization accuracy, and, thus, better task performance, i.e. path following behavior of the mobile robot. It is shown that multi-focal vision may strongly improve navigation performance.

Sign in / Sign up

Export Citation Format

Share Document