Robot Navigation Behaviors Based on Omnidirectional Vision and Information Theory

• Autores: Boyán I. Bonev, Miguel Cazorla Quevedo, Francisco Escolano Ruiz
• Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 1, Nº. 1, 2007, págs. 27-36
• Idioma: inglés
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• Resumen

  • In this work we present a reactive autonomous robot navigation system based only on omnidirectional vision.

    It does not rely on any prior knowledge about the environment apart from assuming a structured one, like indoor corridors or outdoor avenues. The direction of the corridor is estimated from the entropy analysis of a 1-D omnidirectional image. The 2-D omnidirectional image is analyzed for obstacle avoidance and for keeping a safety distance from the borders of the corridor.

    Both methods are non-metric and no 3-D information is needed.

    The system performs well with different resolutions and the catadioptric sensor needs no calibration. We present results from indoor and outdoor experiments.