TY - JOUR
T1 - Visual navigation in natural environments
T2 - From range and color data to a landmark-based model
AU - Murrieta-Cid, Rafael
AU - Parra, Carlos
AU - Devy, Michel
N1 - Funding Information:
∗This research was funded by CONACyT, México. †This research was funded by the PCP program (Colombia— COLCIENCIAS and France) and by the ECOS Nord project number C00M01.
Funding Information:
The authors thank Nicolas Vandapel, Maurice Briot, Victor Ayala, Raja Chatila and Simon Lacroix for their contributions to the development of the ideas presented in this paper and to the implementation of some of the software. This work was funded by CONACyT México (PhD scholarship and project J34670-A), by COL-CIENCIAS Colombia, France Foreign Office (PhD scholarship) and ITESM Campus Ciudad de México.
PY - 2002/9
Y1 - 2002/9
N2 - This paper concerns the exploration of a natural environment by a mobile robot equipped with both a video color camera and a stereo-vision system. We focus on the interest of such a multi-sensory system to deal with the navigation of a robot in an a priori unknown environment, including (1) the incremental construction of a landmark-based model, and the use of these landmarks for (2) the 3-D localization of the mobile robot and for (3) a sensor-based navigation mode. For robot localization, a slow process and a fast one are simultaneously executed during the robot motions. In the modeling process (currently 0.1 Hz), the global landmark-based model is incrementally built and the robot situation can be estimated from discriminant landmarks selected amongst the detected objects in the range data. In the tracking process (currently 4 Hz), selected landmarks are tracked in the visual data; the tracking results are used to simplify the matching between landmarks in the modeling process. Finally, a sensor-based visual navigation mode, based on the same landmark selection and tracking, is also presented; in order to navigate during a long robot motion, different landmarks (targets) can be selected as a sequence of sub-goals that the robot must successively reach.
AB - This paper concerns the exploration of a natural environment by a mobile robot equipped with both a video color camera and a stereo-vision system. We focus on the interest of such a multi-sensory system to deal with the navigation of a robot in an a priori unknown environment, including (1) the incremental construction of a landmark-based model, and the use of these landmarks for (2) the 3-D localization of the mobile robot and for (3) a sensor-based navigation mode. For robot localization, a slow process and a fast one are simultaneously executed during the robot motions. In the modeling process (currently 0.1 Hz), the global landmark-based model is incrementally built and the robot situation can be estimated from discriminant landmarks selected amongst the detected objects in the range data. In the tracking process (currently 4 Hz), selected landmarks are tracked in the visual data; the tracking results are used to simplify the matching between landmarks in the modeling process. Finally, a sensor-based visual navigation mode, based on the same landmark selection and tracking, is also presented; in order to navigate during a long robot motion, different landmarks (targets) can be selected as a sequence of sub-goals that the robot must successively reach.
KW - Multi-sensory fusion
KW - Outdoor model building
KW - Robotics
KW - Target tracking
KW - Vision
KW - Visual navigation
UR - https://www.scopus.com/pages/publications/0036735092
U2 - 10.1023/A:1019685425452
DO - 10.1023/A:1019685425452
M3 - Article
AN - SCOPUS:0036735092
SN - 0929-5593
VL - 13
SP - 143
EP - 168
JO - Autonomous Robots
JF - Autonomous Robots
IS - 2
ER -