|
Combining Dense structure from Motion and Visual SLAM in a Behavior-based Robot Control Architecture This publication appears in: International Journal of Advanced Robotic Systems Authors: G. De Cubber, S. Ahmed Berrabah, L. Daniela Doroftei, Y. Baudouin and H. Sahli Volume: 17 Pages: 27-38 Publication Year: 2010
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
|
