Document Type
Conference Proceeding
Keywords
Robotics, Computer Vision, Stereovision, Visual Homing, Navigation
Disciplines
Artificial Intelligence and Robotics | Computer Engineering | Robotics
Abstract
Visual Homing is a bioinspired approach to robot navigation which can be fast and uses few assumptions. However, visual homing in a cluttered and unstructured outdoor environment offers several challenges to homing methods that have been developed for primarily indoor environments. One issue is that any current image during homing may be tilted with respect to the home image. The second is that moving through a cluttered scene during homing may cause obstacles to interfere between the home scene and location and the current scene and location. In this paper, we introduce a robust method to improve a previous developed Homing with Stereo Vision (HSV) method for visual homing. HSV adds stereo information to the image information typically used in homing resulting in improved performance. The Robust Homing with Stereo Vision (RHSV) algorithm is modified to deal with current images taken at arbitrary pitch and roll values, and to handle homing and navigation through occluding obstacles. The results for several trials comparing HSV and RHSV are presented and the future direction of this work outlined.
Keywords: visual homing, robotics, stereo vision, cluttered environment, navigation, autonomy
Publication Title
SPIE Defense & Security 2017 Conference on Unmanned Systems Technology XX, Orlando, Fl April 2017.
Article Number
1063
Publication Date
4-2017
Language
English
Peer Reviewed
1
Recommended Citation
Fuqianq Fu and Damian Lyons "An Approach to Robust Homing with Stereovision" SPIE Defense & Security 2017 Conference on Unmanned Systems Technology XX, Orlando, Fl April 2017.
Version
Published
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
