View-based navigation using an omniview sequence in a corridor environment

Abstract

View- and appearance-based approaches have recently been attracting the interest of those involved in computer vision research. We have already proposed a visual view-based navigation method using a model of the route called the "view sequence," which contains a sequence of front views along a route memorized in the recording run. In this paper, we firstly apply the omnidirectional vision sensor to our view-based navigation method and propose an extended model of a route called the "omniview sequence." Secondly we propose a map named the "view-sequenced map" which represents an entire corridor environment in a building. A method for the automatic acquisition of a view-sequenced map based on the exploration in a corridor using both stereo and omnidirectional vision is also described. Finally experimental results of the autonomous navigation and the map acquisition are presented to show the feasibility of the proposed methods.