Degree of Contribution

Lead

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

Version

Published

Creative Commons License

Creative Commons Attribution 4.0 License
This work is licensed under a Creative Commons Attribution 4.0 License.

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