Model Building in Natural Environments
This work deals with the development of the use of a video camera in
order to add useful information for both localization and navigation of a
mobile robot roving in natural environments.
The line of research in perception for mobile robot are basically focused
on 3-D information, obtained by a laser ranger finder or a stereoscopic
system. However, depth information is not enough to get a complete
description of the environment. Other information such as the nature of
the elements presents in the scene have to be taken into account.
We are using the Earth Mover's Distance as an environment
recognition method, in such a way and appropriate data base is
found making it easier to label extracted regions by a reduced
number of classes and allowing to make inferences from contextual
information. Involving this information helps controlling the
decision making process required to correctly identify natural
objects and to describe natural scenes.
In order to achieved the scene interpretation in a single image, we have proposed the
following approach. This one consists in several phases executed in
sequence and the cooperation among them is possible. The result of the
previous phase could be checked by the current phase and if it is
The principal phases of the approach are:
The following images show the outdoor experimental site of outdoor
robots at the LAAS-CNRS.
||Segmented and classified images
A vision system for outdoor robot navigation
| Robot visual navigation based on landmarks
|| Simultaneous Localization and Modeling (SLAM)
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Modificado: Tue Mar 3 11:59:05 2009, por: Rafael Eric Murrieta Cid