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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F10%3A00172081%21RIV11-MSM-21230___
rdf:type
skos:Concept n18:Vysledek
dcterms: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.
dcterms:title
A Monocular Navigation System for RoboTour Competition A Monocular Navigation System for RoboTour Competition
skos:prefLabel
A Monocular Navigation System for RoboTour Competition A Monocular Navigation System for RoboTour Competition
skos:notation
RIV/68407700:21230/10:00172081!RIV11-MSM-21230___
n4:aktivita
n5:P n5:Z n5:R n5:S
n4:aktivity
P(7E08006), R, S, Z(MSM6840770038)
n4:cisloPeriodika
1
n4:dodaniDat
n6:2011
n4:domaciTvurceVysledku
n11:4124839 n11:7341520 n11:3933334 n11:4334175 n11:3276155
n4:druhVysledku
n9:J
n4:duvernostUdaju
n19:S
n4:entitaPredkladatele
n15:predkladatel
n4:idSjednocenehoVysledku
244703
n4:idVysledku
RIV/68407700:21230/10:00172081
n4:jazykVysledku
n8:eng
n4:klicovaSlova
Visual Navigation; Mobile Robotics
n4:klicoveSlovo
n7:Visual%20Navigation n7:Mobile%20Robotics
n4:kodStatuVydavatele
SK - Slovenská republika
n4:kontrolniKodProRIV
[569B0D03642F]
n4:nazevZdroje
AT&P journal PLUS 2
n4:obor
n16:JC
n4:pocetDomacichTvurcuVysledku
5
n4:pocetTvurcuVysledku
6
n4:projekt
n12:7E08006
n4:rokUplatneniVysledku
n6:2010
n4:svazekPeriodika
18
n4:tvurceVysledku
Fišer, Ondřej Přeučil, Libor Szücsová, H. Faigl, Jan Krajník, Tomáš Vonásek, Vojtěch
n4:zamer
n17:MSM6840770038
s:issn
1336-5010
s:numberOfPages
7
n13:organizacniJednotka
21230