A MONOCULAR OCCUPANCY GRID FOR LOCAL WMR NAVIGATION

Lluís Pacheco, Xavier Cufí, Ningsu Luo, Javier Cobos

Abstract

This work introduces a new methodology to infer environment structure by using monocular techniques. The monocular field of view is constrained to the vicinity of the mobile robot. The cooperative strategy proposed combines DFF and qualitative structure techniques to obtain environment information. The remarkable features of the strategy presented are its simplicity and the low computational cost. In this way, a simplified DFF method, which uses only one frame, has been implemented; hence, scenario information can be achieved when homogeneous radiance background constraint is accomplished. Further structure analysis is developed by computing qualitative structure through time integration series of acquired frames; within a tessellated probabilistic representation consisting in a local occupancy grid framework. Furthermore, the camera pose knowledge is used to correlate the different overlapping image zones. Moreover, time integration of the monocular frames allows a larger environment description suitable for WMR local path planning. Hence, the reported work can be used in obstacle avoidance strategies or reactive behaviours for navigation towards the desired objective.

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Paper Citation


in Harvard Style

Pacheco L., Cufí X., Luo N. and Cobos J. (2009). A MONOCULAR OCCUPANCY GRID FOR LOCAL WMR NAVIGATION . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 425-432. DOI: 10.5220/0002206704250432


in Bibtex Style

@conference{icinco09,
author={Lluís Pacheco and Xavier Cufí and Ningsu Luo and Javier Cobos},
title={A MONOCULAR OCCUPANCY GRID FOR LOCAL WMR NAVIGATION},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={425-432},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002206704250432},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A MONOCULAR OCCUPANCY GRID FOR LOCAL WMR NAVIGATION
SN - 978-989-674-000-9
AU - Pacheco L.
AU - Cufí X.
AU - Luo N.
AU - Cobos J.
PY - 2009
SP - 425
EP - 432
DO - 10.5220/0002206704250432