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Description
  • The aim of this paper is to present a convergence property of a simple vision based navigation system for a mobile robot. A robot equipped with a single camera is guided by a human operator along a path consisting of straight segments. During this guided tour, local image invariants are extracted from acquired frames and odometric data are collected. When navigating learned path, the vision is used to reckon direction to the start point of next straight segment. Odometric measurements are utilized to estimate distance to this point. A simple linear model of this navigation system is lined up and its properties are examined. We proclaim a theorem, which states, that for a limited odometric error and ''reasonable'' trajectory, the robot uncertainty in position estimation does not diverge. A formal proof of this theorem is given for regular polygonal trajectories. The proclaimed convergence theorem is also experimentally verified.
  • The aim of this paper is to present a convergence property of a simple vision based navigation system for a mobile robot. A robot equipped with a single camera is guided by a human operator along a path consisting of straight segments. During this guided tour, local image invariants are extracted from acquired frames and odometric data are collected. When navigating learned path, the vision is used to reckon direction to the start point of next straight segment. Odometric measurements are utilized to estimate distance to this point. A simple linear model of this navigation system is lined up and its properties are examined. We proclaim a theorem, which states, that for a limited odometric error and ''reasonable'' trajectory, the robot uncertainty in position estimation does not diverge. A formal proof of this theorem is given for regular polygonal trajectories. The proclaimed convergence theorem is also experimentally verified. (en)
  • Tento příspěvek popisuje konvergenci jednoduchého navigačního systému pro mobilní robot. Robot vybavený jednou kamerou je proveden prostředím po cestě tvaru lomené čáry. Během této cesty robot extrahuje z obrazu okolí význačné body a zaznamenává jejich pozice spolu s odometrickými daty. Během navigace po této naučené cestě, zapamatované význačné body jsou použity pro korekci směru robotu a dometrická data určují vzdálenost robotu od počátku cesty. Byl sestaven lineární model tohoto navigačního systému a byly zkoumány jeho vlastnosti. Vyslovili jsme větu, tvrdící, že pro omezenou chybu odometrie a %22rozumné%22 trajektorie, korekce směru jsou dostačující pro udržení robotu na známé cestě. Formulovali jsme důkaz platný pro trajektorie tvaru pravidelných mnohoúhelníků. (cs)
Title
  • A Simple Visual Navigation System with Convergence Property
  • A Simple Visual Navigation System with Convergence Property (en)
  • Jednoduchý vizuální navigační systém pro mobilní robot (cs)
skos:prefLabel
  • A Simple Visual Navigation System with Convergence Property
  • A Simple Visual Navigation System with Convergence Property (en)
  • Jednoduchý vizuální navigační systém pro mobilní robot (cs)
skos:notation
  • RIV/68407700:21230/08:03141775!RIV09-MSM-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM6840770038)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 354516
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/08:03141775
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • visual navigation (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [D332358EBF16]
http://linked.open...v/mistoKonaniAkce
  • Prague
http://linked.open...i/riv/mistoVydani
  • Heidelberg
http://linked.open...i/riv/nazevZdroje
  • European Robotics Symposium 2008
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Krajník, Tomáš
  • Přeučil, Libor
http://linked.open...vavai/riv/typAkce
http://linked.open...ain/vavai/riv/wos
  • 000255550400029
http://linked.open.../riv/zahajeniAkce
http://linked.open...n/vavai/riv/zamer
issn
  • 1610-7438
number of pages
http://purl.org/ne...btex#hasPublisher
  • Springer-Verlag
https://schema.org/isbn
  • 978-3-540-78315-2
http://localhost/t...ganizacniJednotka
  • 21230
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