Abstract This chapter proposes a hierarchical navigation system combining the benefits of perception space local planning and allocentric global planning. Perception space permits computationally efficient 3D collision checking, enabling safe navigation in environments that do not meet the conditions assumed by traditional navigation systems based on planar laser scans. Contributions include approaches for scoring and collision checking trajectories in perception space. Benchmarking results show the advantages of perception space collision checking over popular alternatives in the context of real-time local planning. Simulated experiments with multiple robotic platforms in several environments demonstrate the importance of 3D collision checking and the utility of a mixed representation hierarchical navigation system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-Time Egocentric Navigation Using 3D Sensing


    Contributors:

    Published in:

    Publication date :

    2019-10-01


    Size :

    54 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Cooking Behavior Recognition Using Egocentric Vision for Cooking Navigation

    Ooi, Sho / Ikegaya, Tsuyoshi / Sano, Mutsuo | British Library Online Contents | 2017



    Real-Time Navigation using GPS

    Simon | Online Contents | 1995



    Pedestrian intention estimation from egocentric data

    Konrad, Santiago Gerling / Masson, Favio R. | IEEE | 2017