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Efficient Vision-Based Navigation of Mobile Robots Based on the LT-Map

Jäger, Bastian (2013) Efficient Vision-Based Navigation of Mobile Robots Based on the LT-Map. Diploma. DLR-Interner Bericht. DLR-IB 572-2013/04, 98 S. (Submitted)

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Abstract

Long distance navigation of mobile robots is in general based metric maps. Such maps suffer from high memory consumption and poor scalability. Especially, if we consider small mobile robots, efficient memory usage is crutial. A navigation strategy, adopted from insect navigation, generates topological maps. Such a topological navigation is memory efficient and easily scalable, in case of memory shortage. In this work, a navigation algorithm for resource limited systems, which is based on the LTMap, is developed, implemented and evaluated. The LT-Map approach stores landmarks in a tree structure, according to the relation between referring viewframes. The roadmap based navigation system utilizes an omnidirectional camera as input sensor and global image features for landmark identification. The topological algorithm requires no metrical information - only a unit vector towards each landmark is utilized. Different feature tracking algorithms are evaluated and robustification methods are applied. The presented system can generate a map of the current navigated path online and retrace it. Robustness and scalability qualify this approach for long distance navigation of mobile platforms with limited resources. All components and the overall system functionality have been evaluated experimentally and the feasibility of the developed system has been proved.

Item URL in elib:https://elib.dlr.de/86919/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Efficient Vision-Based Navigation of Mobile Robots Based on the LT-Map
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jäger, BastianTU MünchenUNSPECIFIED
Date:31 January 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:98
Status:Submitted
Keywords:Vision-Based, Mobile Robots, LT, Navigation
Institution:Technische Universität München
Department:Lehrstuhl für Flugsystemdynamik
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: Laskey, Jessica
Deposited On:17 Dec 2013 14:48
Last Modified:17 Dec 2013 14:48

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