Stelzer, Annett und Vayugundla, Mallikarjuna und Mair, Elmar und Suppa, Michael und Burgard, Wolfram (2018) Towards efficient and scalable visual homing. The International Journal of Robotics Research, 37 (2-3), Seiten 225-248. SAGE Publications. doi: 10.1177/0278364918761115. ISSN 0278-3649.
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Kurzfassung
Visual homing describes the ability of a robot to autonomously return to its starting position along a previously traversed path using visual information. In this paper, we propose a method for visual homing that is solely based on bearing angles to landmarks. During the first traversal of a path, the robot creates a sequence of viewframes, which are rotationally aligned landmark angle configurations at certain locations. During homing, the robot calculates homing vectors which subsequently lead it in the direction to align the currently perceived set of landmark observations with the reference viewframe until the home location is reached. This paper discusses methods for homing vector calculation and proposes new methods which are more robust and yield straighter homing paths in case of non-isotropic landmark distributions and false landmark matches. Furthermore, we present the Trail-Map, which is a novel data structure for storing a sequence of viewframes in a non-redundant and scalable way. The Trail-Map exploits the fact that the bearing angles to distant landmarks and landmarks in the direction of movement hardly change when the robot moves, whereas close landmarks change their bearing angles quickly. Thus, the Trail-Map allows easy downscaling by deleting observations that correspond to nearby, quickly-changing landmarks and, thus, retaining the stable, translation invariant landmark information. We show the memory efficiency and scalability of the data structure in simulations and in real-world indoor and outdoor experiments. This makes the proposed method for visual homing suitable for mobile robots with limited computational and memory resources.
elib-URL des Eintrags: | https://elib.dlr.de/119587/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | Towards efficient and scalable visual homing | ||||||||||||||||||||||||
Autoren: |
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Datum: | 1 Februar 2018 | ||||||||||||||||||||||||
Erschienen in: | The International Journal of Robotics Research | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
Band: | 37 | ||||||||||||||||||||||||
DOI: | 10.1177/0278364918761115 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 225-248 | ||||||||||||||||||||||||
Verlag: | SAGE Publications | ||||||||||||||||||||||||
ISSN: | 0278-3649 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | visual homing, range-free navigation, omnidirectional vision | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||
Hinterlegt von: | Vayugundla, Mallikarjuna | ||||||||||||||||||||||||
Hinterlegt am: | 16 Apr 2018 03:48 | ||||||||||||||||||||||||
Letzte Änderung: | 02 Nov 2023 12:03 |
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