Topological mapping and navigation based on visual sensor network
文献类型：会议论文
| 作者 | Yuan WB(袁文博) ; Cao ZQ(曹志强); Tan M(谭民); Liu JY(刘敬禹); Yuan WB(袁文博)
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| 出版日期 | 2014 |
| 会议名称 | 2014 IEEE International Conference on Mechatronics and Automation |
| 会议日期 | 2014 |
| 会议地点 | Tianjin, China |
| 关键词 | Visual sensor network Topological mapping Navigation Mobile robot |
| 通讯作者 | 袁文博 |
| 英文摘要 | In this paper, a novel topological mapping approach applied to the navigation mission is proposed based on visual sensor network. Firstly, the natural objects in the scene monitored by visual sensor network are recognized through the inference model based on structural features. Then, topological nodes are designed according to the recognized objects and their spatial structure information, and topological mapping will be fulfilled. On this basis, global localization for mobile robot in camera view can be implemented with HOG feature based detection and tracking. Finally, the robot can make motion decisions for navigation. Our approach does not rely on artificial landmarks and is tested in large-scale office scene. The effectiveness of the proposed approach is verified. |
| 会议录 | 2014 IEEE International Conference on Mechatronics and Automation
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| 源URL | [http://ir.ia.ac.cn/handle/173211/11763]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Yuan WB(袁文博) |
| 推荐引用方式 GB/T 7714 | Yuan WB,Cao ZQ,Tan M,et al. Topological mapping and navigation based on visual sensor network[C]. 见:2014 IEEE International Conference on Mechatronics and Automation. Tianjin, China. 2014. |
入库方式： OAI收割
来源：自动化研究所
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