Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture
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ID: 270257
2010
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Abstract
In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture.
| Reference Key |
sahli2010internationalcombining
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|---|---|
| Authors | Geert De Cubber,Sid Ahmed Berrabah,Daniela Doroftei,Yvan Baudoin,Yvan Baudoin And Hichem Sahli;Geert De Cubber;Sid Ahmed Berrabah;Daniela Doroftei;Yvan Baudoin;Yvan Baudoin And Hichem Sahli; |
| Journal | international journal of advanced robotic systems |
| Year | 2010 |
| DOI |
10.5772/7240
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| URL | |
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