S. D. Jones, C. Andresen, and J. L. Crowley, "Appearance based processes for visual navigation," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots ans Systems, 1997.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....Scenario. Here a camera is mounted normal and at constant height with respect to a surface and it moves parallel to the surface. Assumptions imply that variations in foreshortening over the image do not occur. Camera Motion Surface . Sensor Modality: Whether they use appearance (cameras [1]) or shape (radar [12] sonar [10] or lidar [13] or both [33] This choice can be based on the relative visual or geometric richness of the environment. Feature Detail: Whether topological [26] spatially discrete [20] 29] or extended features such as lines [2] 25] or full iconic ....

C. S. Andersen, S. Jones, J. Crowley, "Appearance Based Processes for Visual Navigation", Proc SIRS'97, pp227-236, 1997.

....could be considerably simplified if a robot s pose (localisation prediction) is given a priori. On the contrary, without prediction, the absolute matching is quite difficult because the observations are not error free. Only recently, appearance based, or view based, approaches have been proposed [1, 5, 8, 14]. An appearance based approach provides qualitative measurements of the position of the robot, thus monitoring the progress of the overall mission. Once certain relevant positions are attained, other navigation behaviours are launched. This strategy is further justified by the fact that the ....

C. Andersen, S.D. Jones, J.L. Crowley, Appearance based processes for visual navigation, Symposium on Intelligent Robotics Systems (SIRS), 1997.

....in contrast with the current trend in reactive robot control, where the robot is controlled by the difference between the current and desired sensor values, without constructing a represen tation in the world domain. Much of this work is done for robot manipulators [17] but also for mobile robots [1]. If we want to apply such sensor based control or visual servoing on our robot we may have a discrepancy between the state representation for global navi gation (i.e. in the task space) and for reactive navigation (in the sensor space) To avoid this, environment learning models in the sensory ....

....orientation 75 degrees the field of object recognition similar approaches have been presented where an average entropy reduction was computed [2] 6 Experiments From our total set of captured images we selected 168 images as a training set. These images were taken at the 7 prototype locations [1 7], as depicted in fig ure 1, at intervals of 15 degrees. For each of these images we determined the optimal rotation according to eq 10. We tested the robot localization on 120 robot poses, taken from 5 test locations [A E] at orientation intervals of 15 degrees. The 5 test locations are about 25 ....

Andersen, C.S., Stephan Jones, James Crowley, "Appearance based processes for visual navigation", Proc. SIRS'97, pp 227-236, 1997.

....robot s viewpoint rather than passively observing it. If the structure of a specific scene is taken into account customized algorithms can be used at the local level. Unfortunately, by definition, they have no global map and so encounter difficulties with global tasks. Appearance based methods [8] [13] offer an alternative solution to the problem and have been an active area of research in the recent past. Progression towards the goal can simply be calculated by comparing the current view with images acquired a priori. Localisation [7] has been achieved by matching images using the ....

Jones, S.D., Andresen, C., Crowley, J.L.: Appearance based processes for visual navigation. In Processings of the 5th International Symposium on Intelligent Robotic Systems (SIRS'97), pages 551--557, July 1997.

....map they encounter difficulties with global tasks. Our approach is somewhat different from those detailed above. Our motivation is to take the best elements of each and merge them, thus maximizing the advantages of both, while minimizing the disadvantages. The use of appearance based methods [9] [13] affords us the opportunity to obtain a qualitative measure of the robot s global position within its environment. Visual servoing is then applied to a remapping of the current image to control locally the pose of the robot relative to image features. Appearance based methods have been an ....

S.D. Jones, C. Andresen, and J.L. Crowley. Appearance based processes for visual navigation. In Processings of the 5th International Symposium on Intelligent Robotic Systems (SIRS'97), pages 551--557, July 1997.

....short distance high accuracy mission segments plays an important role in finding efficient solutions to the robot navigation problem. In this paper, we denote these navigational modes as Topological Navigation versus Visual Path Following. Topological Navigation combines appearance based methods [16, 27] to estimate the robot s qualitative global position, and visual servoing to control locally the robot heading [29] Visual Path Following is used for precise control of the robot along a trajectory pre specified in image coordinates, based on the landmarks tracked in the omnidirectional images ....

S. D. Jones, C. Andersen, and J. L. Crowley. Appearance based processes for visual navigation. In Proc. of the 5th Int. Conf. on Intelligent Robots and Systems (IROS'97), pages 551--557, July 1997.

....in contrast with the current trend in reactive robot control, where the robot is controlled by the difference between the current and desired sensor values, without constructing a representation in the world domain. Much of this work is done for robot manipulators [17] but also for mobile robots [1]. If we want to apply such sensor based control or visual servoing on our robot we may have a discrepancy between the state representation for global navigation (i.e. in the task space) and for reactive navigation (in the sensor space) To avoid this, environment learning models in the sensory ....

....orientation 75 degrees the field of object recognition similar approaches have been presented where an average entropy reduction was computed [2] 6 Experiments From our total set of captured images we selected 168 images as a training set. These images were taken at the 7 prototype locations [1 7], as depicted in figure 1, at intervals of 15 degrees. For each of these images we determined the optimal rotation according to eq 10. We tested the robot localization on 120 robot poses, taken from 5 test locations [A E] at orientation intervals of 15 degrees. The 5 test locations are about 25 ....

Andersen, C.S., Stephan Jones, James Crowley, "Appearance based processes for visual navigation", Proc. SIRS'97, pp 227-236, 1997.

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S. D. Jones, C. Andersen and J. L. Crowley, "Appearance Based Processes for Visual Navigation", IROS 97, IEEE/RSJ Conference on Intelligent Robotics Systems, Grenoble, 1997.

....(see figure 1) The SERVP (Synchronous Ensemble of Reactive Visual Processes) architecture [2] was developed as a synchronous approach to the integration of processes for active vision. The SERVParchitecture has been used in the construction of several systems including appearance based navigation [1], tracking faces for video communications [3] and in detection and tracking of individuals [5] For the work described in this paper, we use a software skeleton, named Chord [6, 11] which is based on the SERVP architecture. The Chord system includes facilities for both synchronous processing on ....

C. Andersen, S. Jones, and J. Crowley. Appearance based processes for visual navigation. In 5th International Symposium on Intelligent Robotic Systems, SIRS'97, pages 227-- 236, Royal Institue of Technology, Stockholm, Sweden, July 1997.

....70 of all industrial manipulators are programmed: to teach it path examples in areas it should operate in. During this procedure the robot collects all the information it needs to navigate in this areas. Such automatic data collection is mainly investigated in combination with visual sensing [JAC97] and laser range data [WWP95] Teaching however, is a different problem in the case of mobile robots as in the case of robot manipulators, especially because of the noisy data resulting from obstacles in the workspace and the position estimation problem resulting from the lack of a fixed ....

S.D. Jones, C. Andersen, and J.L. Crowley. Appearance based processes for visual navigation. In Proceedings of the 1997 International Conference on Intelligent Robots and Systems (IROS'97), Grenoble, September 1997.

....background, and robust to partial occlusions, illumination changes, 2D and 3D camera rotations, and changes in size. This paper reports on experiments to the problem of recognizing visual landmarks for position estimation and navigation. This can be seen as an extension of the work of [MII96] and [AJC97]. The first section of this paper focuses on the definition of the local eigenspace, then the application of this eigenspace to visual recognition. Subsequent chapters report some experimental results. 2 Local Eigenspace of Appearance Visual recognition requires selecting which features will ....

....consider using it for mobile robot navigation. In fact, a classic navigation technique in controlled environment is to position artificial landmarks that the robot can detect and track in order to follow its path. It is possible to navigate without artificial landmarks. Matsumo [MII96] and Jones [AJC97] succeeded a visual based navigation by a View Sequenced Route Representation . This technique requires other sensors and an intelligent control system to counter positioning failure due to possible occlusion. Transversal deviation or partial occlusion are likely to happen in case of obstacle ....

[Article contains additional citation context not shown here]

C.S. Andersen, S.D. Jones, and J.L. Crowley. Appearance Based Processes for Visual Navigation. In 5th International Symposium on Intelligent Robotic Systems, SIRS'97, pages 227--236, Royal Institute of Technology, Stockholm, Sweden, July 1997.

No context found.

S. D. Jones, Claus Anderssen et J. L. Crowley, "Appearance Based Processes for Visual Navigation", IROS 'OS IEEE International Conference on Intelligent Robots and Systems, Grenoble, Sept. 1997.

....background, and robust to partial occlusions, illumination changes, 2D and 3D camera rotations, and changes in size. This paper reports on experiments to the problem of recognizing visual landmarks for position estimation and navigation. This can be seen as an extension of the work of [MII96] and [AJC97]. The first section of this paper focuses on the definition of the local eigenspace, then the application of this eigenspace to visual recognition. Subsequent chapters report some experimental results. 2 Local Eigenspace of Appearance Visual recognition requires selecting which features will ....

....1st rank in list of hypotheses in list of hypotheses non discriminant rejected windows Fig. 5. Evaluation of the window size parameter on recognition the robot can detect and track in order to follow its path. It is possible to navigate without artificial landmarks. Matsumo [MII96] and Jones [AJC97] succeeded a visual based navigation by a View Sequenced Route Representation . This technique requires other sensors and an intelligent control system to counter positioning failure due to possible occlusion. Transversal deviation or partial occlusion are likely to happen in case of obstacle ....

C.S. Andersen, S.D. Jones, and J.L. Crowley. Appearance based processes for visual navigation. In 5th International Symposium on Intelligent Robotic Systems, SIRS'97, pages 227--236, Royal Institue of Technology, Stockholm, Sweden, July 1997.

No context found.

S. D. Jones, C. Andresen, and J. L. Crowley, "Appearance based processes for visual navigation," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots ans Systems, 1997.

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S. Jones, C. Andersen, and J. L. Crowley. Appearance based processes for visual navigation. IEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sept. 1997.

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C.S. Anderson, S.D. Jones, and J.L. Crowley. Appearance based processes for visual navigation. In Proc. of the 5th Int. Symposium on Intelligent Robotic Systems (SIRS), pages 227-236, 1997.

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C.S. Andersen, S.D. Jones, and J.L. Crowley. Appearance based processes for visual navigation. In Proc. of the 5th Int. Symposium on Intelligent Robotic Systems (SIRS) , pages 227--236, 1997.

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C.S. Andersen S. Jones and J.L. Crowley, Appearance Based Processes for Visual Navigation, In: Proc. of Symposium on Intelligent Robotics Systems (SIRS), 1997.

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