About: A Monocular Navigation System for RoboTour Competition

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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	In this paper, we present a mobile robot navigation system used in the RoboTour challenge. We describe the basic principles of the navigation methods and show how to combine monocular vision and odometry. We propose to use the monocular vision to determine only the robot's heading and the odometry to estimate only the traveled distance. We show that the heading estimation itself can suppress odometric cumulative errors and outline a mathemtical proof of this statement. The practical result of the proof is that even simple algorithms capable to estimate just the heading can be used as a base for %22record and replay%22 techniques. Beside the navigational principles, practical implementation of our navigation system is described. It is based on image processing algorithms for path following and landmark-based crossing traversing. An overview of experimental results is presented as well. In this paper, we present a mobile robot navigation system used in the RoboTour challenge. We describe the basic principles of the navigation methods and show how to combine monocular vision and odometry. We propose to use the monocular vision to determine only the robot's heading and the odometry to estimate only the traveled distance. We show that the heading estimation itself can suppress odometric cumulative errors and outline a mathemtical proof of this statement. The practical result of the proof is that even simple algorithms capable to estimate just the heading can be used as a base for %22record and replay%22 techniques. Beside the navigational principles, practical implementation of our navigation system is described. It is based on image processing algorithms for path following and landmark-based crossing traversing. An overview of experimental results is presented as well. (en)
Title	A Monocular Navigation System for RoboTour Competition A Monocular Navigation System for RoboTour Competition (en)
skos:prefLabel	A Monocular Navigation System for RoboTour Competition A Monocular Navigation System for RoboTour Competition (en)
skos:notation	RIV/68407700:21230/10:00172081!RIV11-MSM-21230___
http://linked.open...avai/riv/aktivita	P R S Z
http://linked.open...avai/riv/aktivity	P(7E08006), R, S, Z(MSM6840770038)
http://linked.open...iv/cisloPeriodika	1
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Fišer, Ondřej Přeučil, Libor Vonásek, Vojtěch Krajník, Tomáš Faigl, Jan
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	244703
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/10:00172081
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Visual Navigation; Mobile Robotics (en)
http://linked.open.../riv/klicoveSlovo	Mobile Robotics Visual Navigation
http://linked.open...odStatuVydavatele	SK - Slovenská republika
http://linked.open...ontrolniKodProRIV	[569B0D03642F]
http://linked.open...i/riv/nazevZdroje	AT&P journal PLUS 2
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	5 (xsd:int)
http://linked.open...cetTvurcuVysledku	6 (xsd:int)
http://linked.open...vavai/riv/projekt	Robotic Evolutionary Self-Programming and Self-Assembling Organisms
http://linked.open...UplatneniVysledku	2010
http://linked.open...v/svazekPeriodika	18
http://linked.open...iv/tvurceVysledku	Faigl, Jan Fišer, Ondřej Krajník, Tomáš Přeučil, Libor Vonásek, Vojtěch Szücsová, H.
http://linked.open...n/vavai/riv/zamer	Decision Making and Control for Manufacturing III
issn	1336-5010
number of pages	7 (xsd:int)
http://localhost/t...ganizacniJednotka	21230

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