Three Landmark Optimization Strategies for Mobile Robot Visual Homing
Visual homing is an attractive autonomous mobile robot navigation technique, which only uses vision sensors to guide the robot to the specified target location. Landmark is the only input form of the visual homing approaches, which is usually represented by scale-invariant features. However, the lan...
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MDPI AG
2018-09-01
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Series: | Sensors |
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Online Access: | http://www.mdpi.com/1424-8220/18/10/3180 |
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author | Xun Ji Qidan Zhu Junda Ma Peng Lu Tianhao Yan |
author_facet | Xun Ji Qidan Zhu Junda Ma Peng Lu Tianhao Yan |
author_sort | Xun Ji |
collection | DOAJ |
description | Visual homing is an attractive autonomous mobile robot navigation technique, which only uses vision sensors to guide the robot to the specified target location. Landmark is the only input form of the visual homing approaches, which is usually represented by scale-invariant features. However, the landmark distribution has a great impact on the homing performance of the robot, as irregularly distributed landmarks will significantly reduce the navigation precision. In this paper, we propose three strategies to solve this problem. We use scale-invariant feature transform (SIFT) features as natural landmarks, and the proposed strategies can optimize the landmark distribution without over-eliminating landmarks or increasing calculation amount. Experiments on both panoramic image databases and a real mobile robot have verified the effectiveness and feasibility of the proposed strategies. |
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format | Article |
id | doaj.art-20637844e76d46a3ace0a15fe5cae3d4 |
institution | Directory Open Access Journal |
issn | 1424-8220 |
language | English |
last_indexed | 2024-04-12T05:45:00Z |
publishDate | 2018-09-01 |
publisher | MDPI AG |
record_format | Article |
series | Sensors |
spelling | doaj.art-20637844e76d46a3ace0a15fe5cae3d42022-12-22T03:45:28ZengMDPI AGSensors1424-82202018-09-011810318010.3390/s18103180s18103180Three Landmark Optimization Strategies for Mobile Robot Visual HomingXun Ji0Qidan Zhu1Junda Ma2Peng Lu3Tianhao Yan4College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaVisual homing is an attractive autonomous mobile robot navigation technique, which only uses vision sensors to guide the robot to the specified target location. Landmark is the only input form of the visual homing approaches, which is usually represented by scale-invariant features. However, the landmark distribution has a great impact on the homing performance of the robot, as irregularly distributed landmarks will significantly reduce the navigation precision. In this paper, we propose three strategies to solve this problem. We use scale-invariant feature transform (SIFT) features as natural landmarks, and the proposed strategies can optimize the landmark distribution without over-eliminating landmarks or increasing calculation amount. Experiments on both panoramic image databases and a real mobile robot have verified the effectiveness and feasibility of the proposed strategies.http://www.mdpi.com/1424-8220/18/10/3180mobile robot navigationvisual homingpanoramic visionscale-invariant feature transform |
spellingShingle | Xun Ji Qidan Zhu Junda Ma Peng Lu Tianhao Yan Three Landmark Optimization Strategies for Mobile Robot Visual Homing Sensors mobile robot navigation visual homing panoramic vision scale-invariant feature transform |
title | Three Landmark Optimization Strategies for Mobile Robot Visual Homing |
title_full | Three Landmark Optimization Strategies for Mobile Robot Visual Homing |
title_fullStr | Three Landmark Optimization Strategies for Mobile Robot Visual Homing |
title_full_unstemmed | Three Landmark Optimization Strategies for Mobile Robot Visual Homing |
title_short | Three Landmark Optimization Strategies for Mobile Robot Visual Homing |
title_sort | three landmark optimization strategies for mobile robot visual homing |
topic | mobile robot navigation visual homing panoramic vision scale-invariant feature transform |
url | http://www.mdpi.com/1424-8220/18/10/3180 |
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