About: Simple, Yet Stable Bearing-Only Navigation

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This article describes a simple monocular navigation system for a mobile robot based on the map-and-replay technique. The presented method is robust, easy to implement, does not require sensor calibration or structured environment and its computational complexity is independent of the environment size. The method can navigate a robot while sensing only one landmark at a time, making it more robust than other monocular approaches. The aforementioned properties of the method allow even low-cost robots to effectively act in large outdoor and indoor environments with natural landmarks only. The basic idea is to utilize a monocular vision to correct only the robot's heading and leaving distance measurements just to the odometry. The heading correction itself can suppress the odometric error and prevent the overall position error from diverging. The influence of a map-based heading estimation and odometric errors on the overall position uncertainty is examined. This article describes a simple monocular navigation system for a mobile robot based on the map-and-replay technique. The presented method is robust, easy to implement, does not require sensor calibration or structured environment and its computational complexity is independent of the environment size. The method can navigate a robot while sensing only one landmark at a time, making it more robust than other monocular approaches. The aforementioned properties of the method allow even low-cost robots to effectively act in large outdoor and indoor environments with natural landmarks only. The basic idea is to utilize a monocular vision to correct only the robot's heading and leaving distance measurements just to the odometry. The heading correction itself can suppress the odometric error and prevent the overall position error from diverging. The influence of a map-based heading estimation and odometric errors on the overall position uncertainty is examined. (en)
Title	Simple, Yet Stable Bearing-Only Navigation Simple, Yet Stable Bearing-Only Navigation (en)
skos:prefLabel	Simple, Yet Stable Bearing-Only Navigation Simple, Yet Stable Bearing-Only Navigation (en)
skos:notation	RIV/68407700:21230/10:00169204!RIV11-MSM-21230___
http://linked.open...avai/riv/aktivita	P R S Z
http://linked.open...avai/riv/aktivity	P(2C06005), R, S, Z(MSM6840770038)
http://linked.open...iv/cisloPeriodika	5
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Kulich, Miroslav Přeučil, Libor Vonásek, Vojtěch Krajník, Tomáš Faigl, Jan Košnar, Karel
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	287353
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/10:00169204
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Position Estimation; Mapping; Perception (en)
http://linked.open.../riv/klicoveSlovo	Perception Position Estimation Mapping
http://linked.open...odStatuVydavatele	US - Spojené státy americké
http://linked.open...ontrolniKodProRIV	[B8400AFB6A12]
http://linked.open...i/riv/nazevZdroje	Journal of Field Robotics
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	6 (xsd:int)
http://linked.open...cetTvurcuVysledku	6 (xsd:int)
http://linked.open...vavai/riv/projekt	A System for robotic e-learning
http://linked.open...UplatneniVysledku	2010
http://linked.open...v/svazekPeriodika	27
http://linked.open...iv/tvurceVysledku	Faigl, Jan Košnar, Karel Krajník, Tomáš Kulich, Miroslav Přeučil, Libor Vonásek, Vojtěch
http://linked.open...ain/vavai/riv/wos	000280869700002
http://linked.open...n/vavai/riv/zamer	Decision Making and Control for Manufacturing III
issn	1556-4959
number of pages	23 (xsd:int)
http://localhost/t...ganizacniJednotka	21230

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