Ground Robot Navigation using Uncalibrated Cameras
Precise calibration of camera intrinsic and extrinsic parameters, while often useful, is difficult to obtain during field operation and presents scaling issues for multi-robot systems. We demonstrate a vision-based approach to navigation that does not depend on traditional camera calibration, and pr...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2012
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| Online Access: | http://hdl.handle.net/1721.1/73150 |
| _version_ | 1826193071597944832 |
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| author | Teller, Seth Huang, Albert S. Koch, Olivier A. Walter, Matthew R. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Teller, Seth Huang, Albert S. Koch, Olivier A. Walter, Matthew R. |
| author_sort | Teller, Seth |
| collection | MIT |
| description | Precise calibration of camera intrinsic and extrinsic parameters, while often useful, is difficult to obtain during field operation and presents scaling issues for multi-robot systems. We demonstrate a vision-based approach to navigation that does not depend on traditional camera calibration, and present an algorithm for guiding a robot through a previously traversed environment using a set of uncalibrated cameras mounted on the robot. On the first excursion through an environment, the system builds a topological representation of the robot's exploration path, encoded as a place graph. On subsequent navigation missions, the method localizes the robot within the graph and provides robust guidance to a specified destination. We combine this method with reactive collision avoidance to obtain a system able to navigate the robot safely and reliably through the environment. We validate our approach with ground-truth experiments and demonstrate the method on a small ground rover navigating through several dynamic environments. |
| first_indexed | 2024-09-23T09:33:38Z |
| format | Article |
| id | mit-1721.1/73150 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:33:38Z |
| publishDate | 2012 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/731502022-09-26T12:14:39Z Ground Robot Navigation using Uncalibrated Cameras Teller, Seth Huang, Albert S. Koch, Olivier A. Walter, Matthew R. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Teller, Seth Huang, Albert S. Koch, Olivier A. Walter, Matthew R. Precise calibration of camera intrinsic and extrinsic parameters, while often useful, is difficult to obtain during field operation and presents scaling issues for multi-robot systems. We demonstrate a vision-based approach to navigation that does not depend on traditional camera calibration, and present an algorithm for guiding a robot through a previously traversed environment using a set of uncalibrated cameras mounted on the robot. On the first excursion through an environment, the system builds a topological representation of the robot's exploration path, encoded as a place graph. On subsequent navigation missions, the method localizes the robot within the graph and provides robust guidance to a specified destination. We combine this method with reactive collision avoidance to obtain a system able to navigate the robot safely and reliably through the environment. We validate our approach with ground-truth experiments and demonstrate the method on a small ground rover navigating through several dynamic environments. Charles Stark Draper Laboratory 2012-09-25T12:48:13Z 2012-09-25T12:48:13Z 2010-07 2010-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-5040-4 1050-4729 http://hdl.handle.net/1721.1/73150 Teller, Seth et al. "Ground robot navigation using uncalibrated cameras." Proceedings of the 2010 IEEE International Conference on Robotics and Automation: 2423-2430. © 2010 IEEE. en_US http://dx.doi.org/ 10.1109/ROBOT.2010.5509325 Proceedings of the IEEE International Conference on Robotics and Automation, 2010 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers (IEEE) IEEE |
| spellingShingle | Teller, Seth Huang, Albert S. Koch, Olivier A. Walter, Matthew R. Ground Robot Navigation using Uncalibrated Cameras |
| title | Ground Robot Navigation using Uncalibrated Cameras |
| title_full | Ground Robot Navigation using Uncalibrated Cameras |
| title_fullStr | Ground Robot Navigation using Uncalibrated Cameras |
| title_full_unstemmed | Ground Robot Navigation using Uncalibrated Cameras |
| title_short | Ground Robot Navigation using Uncalibrated Cameras |
| title_sort | ground robot navigation using uncalibrated cameras |
| url | http://hdl.handle.net/1721.1/73150 |
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