A Case Study on Graphic Path Analysis Using Various Mapping Techniques

Abstract

This work offers a method for the visual-based navigation of a mobile robot in indoor environments, using a single omni-directional camera. The geometry of the catadioptric sensor and the method used to obtain a bird's eye (orthographic) view of the ground plane are presented. This picture evocatively abridges the solution to steering problems, by eliminating any perspective effects. The nature of each navigation task is taken hooked on account when conniving the compulsory navigation skills and environmental representations. Topological Navigation is cast-off for itinerant long distances plus does not require knowledge of the exact location of the robot but rather, a qualitative position happening the topological map. For indoor robots in structured environments, we consume owed separately with the cases of geometrical and topological models of interplanetary. For shapeless environments, we consume discussed the cases of navigation through optical activities, using methods from the appearance-based paradigm, and by recognition of specific substances in the environment. The navigation process cartels appearance based approaches and visual serving upon some environmental features. Graphic Path Succeeding is obligatory for native, actual precise navigation, for e.g. door traversal, docking. The robot is controlled to follow a pre-specified trail accurately, by tracking visual milestones in bird's eye views of the ground plane. By clearly separating the nature of these triangulation tasks, a simple besides yet powerful navigation scheme is obtained.