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Efficient Navigation Based on the Landmark-Tree Map and the Zinf Algorithm Using an Omnidirectional Camera

Jäger, Bastian and Mair, Elmar and Brand, Christoph and Stürzl, Wolfgang and Suppa, Michael (2013) Efficient Navigation Based on the Landmark-Tree Map and the Zinf Algorithm Using an Omnidirectional Camera. In: IROS (ISSN: 1552-3098). IROS 2013, 1-8 Nov 2013, Tokyo, Japan. ISSN 1552-3098

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Abstract

Map based navigation is a crucial task for any mobile robot. On many platforms this problem is addressed by applying Simultaneous Localization and Mapping (SLAM) based on metric grid-maps. Such solutions work well on robots with adequate resources and limited workspaces. Platforms with limited payload which operate in unbounded workspaces, do often have insufficient resources to keep a metric world representation. Nevertheless, many applications demand that the robot can autonomously navigate between different operation areas. In this work the Landmark-Tree map (LT-map), a resource efficient topological map concept, is for the first time applied to a mobile robotic platform equipped with an omnidirectional camera. It enables the robot to efficiently adapt the acquired map online to the available memory. During map acquisition and navigation the motion is estimated by the Zinf-algorithm. Both methods are based on similar concepts, which results in a mutual benefit. An efficient navigation strategy based on the LT-map allows the robot to reliably follow previously recorded paths. The presented approach is evaluated on a mobile robot in indoor and outdoor scenarios. The experiments prove its feasibility and show that pruning the map just smooths the trajectories, which is the expected and desired behaviour.

Item URL in elib:https://elib.dlr.de/85501/
Document Type:Conference or Workshop Item (Speech)
Title:Efficient Navigation Based on the Landmark-Tree Map and the Zinf Algorithm Using an Omnidirectional Camera
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jäger, Bastianbastian.h.jaeger (at) gmail.comUNSPECIFIED
Mair, Elmarelmar.mair (at) dlr.deUNSPECIFIED
Brand, Christophchristoph.brand (at) dlr.deUNSPECIFIED
Stürzl, Wolfgangwolfgang.stuerzl (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IROS (ISSN: 1552-3098)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
ISSN:1552-3098
Status:Published
Keywords:topological map roadmap navigation translation invariant landmarks landmark tree map
Event Title:IROS 2013
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:1-8 Nov 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Mair, Elmar
Deposited On:17 Dec 2013 13:44
Last Modified:31 Jul 2019 19:43

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