Name
Title | ||
|---|---|---|
Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields. |
Abstract | ||
|---|---|---|
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or neutral potential energy, with the objective of generating a control action that drives the vehicle towards the goal, while still favoring feature-rich areas within a local scope, replaced{thus improving}{improving in this way} the localization performance. One key property of the proposed method is that it does not rely on mapping, and therefore it is a lightweight solution that can be deployed on miniaturized aerial robots, in which memory and computational power are major constraints. Simulations and real experimental results using a mini quadrotor equipped with a downward looking camera demonstrate that the proposed method can effectively drive the vehicle to replaced{a designated}{the} goal through a path that prevents localization failure. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/lra.2018.2809628 | international conference on robotics and automation |
DocType | Volume | Issue |
Journal | abs/1801.07249 | 3 |
Citations | PageRank | References |
1 | 0.36 | 11 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Rômulo T. Rodrigues | 1 | 3 | 2.42 |
| Meysam Basiri | 2 | 81 | 5.92 |
| Aguiar, A. | 3 | 686 | 63.85 |
| Pedro Miraldo | 4 | 74 | 13.56 |