We introduce a vision system based approach to autonomous navigation and mapping in an indoor environment. Our goal is to eventually create a common processing system that can direct both aerial and ground vehicles. This paper presents our initial results for controlling a ground vehicle as well as demonstrates the potential of a vision-based system controlling a completely airborne solution or a solution that combines aerial vehicles with ground vehicles. The autonomous ground explorer (AGE) described here serves as a test vehicle to validate the algorithms that will be integrated into the control of our aerial vehicle that is under development. The ground explorer uses only vision (three basic web cameras) to efficiently move within building corridors. The ground explorer navigates hallways and makes directional decisions based on the following processes: tracking the corridor’s visual vanishing point, anticipating intersections using odometry and fiduciary markers, identifying and classifying intersections based on vanishing points and fiduciary markers, and completing controlled turns based on a confidence factor in its location on a calculated route within a simplified topological map.
Towards an Autonomous Indoor Vehicle: Utilizing a Vision-Based Approach to Navigation in an Indoor Environment
Lect. Notes Electrical Eng.
2011-11-01
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Autonomous ground aerial vehicle , Indoor navigation , Robotic vision Engineering , Communications Engineering, Networks , Multimedia Information Systems , Computer Systems Organization and Communication Networks , Computational Science and Engineering , Business and Management, general , Biomedical Engineering and Bioengineering
Autonomous Vision-based Micro Air Vehicle for Indoor and Outdoor Navigation
Tema Archiv | 2014
|British Library Conference Proceedings | 2020
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