Camera based Navigation by Mobile Robots : Local Visual Feature based Localisation and Mapping

Henrik Andreasson

ISBN 10: 3639124529 / ISBN 13: 9783639124521

Published by VDM Verlag Dr. Müller, 2009

About this Item

nach der Bestellung gedruckt Neuware - Printed after ordering - The most important property of a mobile robot is thefact that it is mobile. How to give a robot theskills required to navigate around its environment istherefore an important topic in mobile robotics.Navigation, both for robots and humans, typicallyinvolves a map. The map can be used, for example, toestimate a pose based on observations (localisation)or determine a suitable path between to locations.Maps are available nowadays for us humans with fewexceptions, however, maps suitable for mobile robotsrarely exists. In addition, to relate sensor readingsto a map requires that the map content and theobservation is compatible, i.e. different robots mayrequire different maps for the same area. This bookaddresses some of the fundamental problems related tomobile robot navigation (registration, localisationand mapping) using cameras as the primary sensorinput. Small salient regions (localvisual features) are extracted from each cameraimage, where each region can be seen as afingerprint. Many fingerprint matches implicates ahigh likelihood that they corresponding imagesoriginate from a similar location, which is a centralproperty utilised in this work.

Seller Inventory # 9783639124521

Bibliographic Details

• Title: Camera based Navigation by Mobile Robots : Local Visual Feature based Localisation and Mapping
• Publisher: VDM Verlag Dr. Müller
• Publication Date: 2009
• Language: English
• ISBN 10: 3639124529
• ISBN 13: 9783639124521
• Binding: Taschenbuch
• Condition: Neu
• Dimensions: 221W x 150H x 12D millimeters 221 millimeters width by 150 millimeters height by 12 millimeters depth
• Weight: 356 grams

About this title

Synopsis

The most important property of a mobile robot is the fact that it is mobile. How to give a robot the skills required to navigate around its environment is therefore an important topic in mobile robotics. Navigation, both for robots and humans, typically involves a map. The map can be used, for example, to estimate a pose based on observations (localisation) or determine a suitable path between to locations. Maps are available nowadays for us humans with few exceptions, however, maps suitable for mobile robots rarely exists. In addition, to relate sensor readings to a map requires that the map content and the observation is compatible, i.e. different robots may require different maps for the same area. This book addresses some of the fundamental problems related to mobile robot navigation (registration, localisation and mapping) using cameras as the primary sensor input. Small salient regions (local visual features) are extracted from each camera image, where each region can be seen as a fingerprint. Many fingerprint matches implicates a high likelihood that they corresponding images originate from a similar location, which is a central property utilised in this work.

About the Author

Henrik Andreasson received the Master's degree in mechatronics from the Royal Institute of Technology, Stockholm, Sweden, in 2001, and the Ph.D. degree in computer science from Örebro University, Örebro, Sweden, in 2008. He currently holds a post doc position with the Applied Autonomous Sensor System (AASS) Research Center, Örebro, Sweden.