Visual environment mapping for mobile robot navigation

机译：用于移动机器人导航的视觉环境映射

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摘要

In order to successfully navigate mobile robots in an unknown environment, an appropriate navigation strategy must be employed. Such a strategy certainly relies on an effective navigation map based on which robot trajectories can be well planned. The navigation map can be built based on a sparse map constructed by a visual simultaneous localization and mapping (VSLAM) algorithm. This paper presents a map conversion strategy to build a 3D navigation map employing a scout robot equipped with an onboard camera. According to the 3D navigation map, ground path planning can be accomplished by a proper navigation strategy. The proposed map conversion strategy has been successfully validated by experimenting with a mobile robot in an indoor laboratory environment.

机译：为了在未知环境中成功导航移动机器人，必须采用适当的导航策略。这样的策略当然依赖于有效的导航地图，基于该地图可以很好地计划机器人的轨迹。可以基于由可视同时定位和地图绘制（VSLAM）算法构造的稀疏地图来构建导航地图。本文提出了一种地图转换策略，以使用配备有机载摄像头的侦察机器人构建3D导航地图。根据3D导航地图，可以通过适当的导航策略来完成地面路径规划。通过在室内实验室环境中使用移动机器人进行实验，已成功验证了建议的地图转换策略。

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来源
《10th France-Japan Congress, 8th Europe-Asia Congress on Mechatronics》|2014年|244-249|共6页
会议地点 Tokyo(JP)
作者
Wen-Chung Chang; Huan-Chen Ling;
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作者单位

Dept. of Electr. Eng., Nat. Taipei Univ. of Technol., Taipei, Taiwan;

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会议组织
原文格式 PDF
正文语种 eng
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关键词
SLAM (robots); image sensors; mobile robots; path planning; robot vision; trajectory control; 3D navigation map; VSLAM algorithm; ground path planning; indoor laboratory environment; mobile robot navigation; onboard camera; robot trajectories; scout robot; sparse map; visual environment mapping; visual simultaneous localization and mapping algorithm; Cameras; Navigation; Robot vision systems; Three-dimensional displays; Trajectory; Vectors;

机译：SLAM（机器人）;图像传感器;移动机器人;路径规划;机器人视觉;轨迹控制; 3D导航图; VSLAM算法;地面路径规划;室内实验室环境;移动机器人导航;机载摄像头;机器人轨迹;侦察机器人;稀疏地图视觉环境映射视觉同步定位与映射算法相机导航机器人视觉系统三维显示轨迹矢量;

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专利

1. Methods of Mobile Robot Visual Navigation and Environment Mapping [J] . J. S. Pershina, S. Ya. Kazdorf, A. V. Lopota Optoelectronics, Instrumentation and Data Processing . 2019,第2期

机译：移动机器人视觉导航和环境映射方法
2. A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots [J] . Current Organic Synthesis . 2020,第3期

机译：基于图像语义的视觉同步定位和映射调查：面向应用程序的移动机器人自主导航的解决方案
3. A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots [J] . Linlin Xia, Jiashuo Cui, Ran Shen, International Journal of Advanced Robotic Systems . 2020,第3期

机译：基于图像语义的视觉同步定位和映射的调查：面向应用程序的移动机器人自主导航解决方案
4. Visual navigation and control of mobile robots based on environment mapping [C] . Chang Wen-Chung, Ling Huan-Chen International Conference on Advanced Mechatronic Systems . 2014

机译：基于环境映射的移动机器人视觉导航与控制
5. A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions. [D] . Hanford, Scott D. 2011

机译：基于Soar认知架构的认知机器人系统，用于移动机器人导航，搜索和地图绘制任务。
6. Development of Magnetic-Based Navigation by Constructing Maps Using Machine Learning for Autonomous Mobile Robots in Real Environments [O] . Takumi Takebayashi, Renato Miyagusuku, Koichi Ozaki 2021

机译：使用机器学习在真实环境中使用机器学习的地图制定磁性导航
7. A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots [O] . Linlin Xia, Jiashuo Cui, Ran Shen, 2020

机译：基于图像语义的视觉同步定位和映射的调查：面向应用程序的移动机器人自主导航解决方案

Visual environment mapping for mobile robot navigation

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