Low-Level Active Visual Navigation: Increasing Robustness of Vision-Based Localization Using Potential Fields

• Type: Article in International Scientific Journal
• Date: 2018

Authors

Rômulo T. Rodrigues (Author) Other; Meysam Basiri (Author) Other; António Pedro Aguiar (Author) FEUP; Pedro Miraldo (Author) Other

Journal

Title: IEEE Robotics and Automation Letters

Vol. 3 No. 3

Pages: 2079-2086

ISSN: 2377-3766

Publisher: IEEE

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 9 Citations

INSPEC

Other information

Authenticus ID: P-00N-YJZ

DOI: 10.1109/lra.2018.2809628

Abstract (EN): This letter 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, thus improving 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 a designated goal through a path that prevents localization failure. © 2016 IEEE.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8