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.


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    Title :

    Towards an Autonomous Indoor Vehicle: Utilizing a Vision-Based Approach to Navigation in an Indoor Environment


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:


    Publication date :

    2011-11-01


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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