Autonomous Image-based Exploration for Mobile Robot Navigation
Image-based navigation paradigms have
emerged as an interesting alternative to conventional modelbased
methods in mobile robotics. In this work, we augment
the existing image-based navigation approaches by presenting
a novel image-based exploration algorithm. The algorithm
facilitates a mobile robot equipped only with a monocular
pan-tilt camera to autonomously explore a typical indoor
environment. The algorithm infers frontier information directly
from the images and displaces the robot towards regions that
are informative for navigation. The frontiers are detected using
a geometric context-based segmentation scheme that exploits
the natural scene structure in indoor environments. In the due
process, a topological graph of the workspace is built in terms
of images which can be subsequently utilised for the tasks of
localisation, path planning and navigation. Experimental results
on a mobile robot in an unmodified laboratory and corridor
environments demonstrate the validity of the approach.
"Autonomous Image-based Exploration for Mobile Robot Navigation"
Santosh K. Divvala, Supreeth Achar, C. V. Jawahar
International Conference on Robotics and Automation (ICRA) 2008 (Oral Presentation)
"Vision-based Robot Navigation using an Online Visual Experience"
Santosh K. Divvala
Center for Visual Information Technology, IIIT-Hyderbad, July 2007.
"Cooperative CONDENSATION-based Recognition"
Santosh K. Divvala, C. V. Jawahar