VISION BASED ESTIMATION OF HEADING AND SCENE OPENNESS FOR MOBILE ROBOTS


Article NameVISION BASED ESTIMATION OF HEADING AND SCENE OPENNESS FOR MOBILE ROBOTS
AuthorsÖzgür ERKENT , H. Işıl BOZMA
Keywords TRGezgin robotlar , görsel temelli yönelim kestirimi.
KeywordsMobile robots , vision based heading estimation.
Article Summary The representation of the environment based on visual data is vital to a mobile robot for navigation and localization. Bubble memory, which is an egocentric approach based on hypothetically surrounding a spherical surface around the robot, has been shown to provide a compact representation of the scene from a single viewpoint. In this paper, the transformations of the bubble surfaces are modeled based on the change of the viewpoint of the robot and it is shown that the information regarding the openness of the environment and the orientation with respect to the scene can be determined with this transformation. In this framework, two different transformation maps are developed for pure robot rotation and pure translation and experimental results on a mobile robot are presented.
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