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Navigation à partir d'une mémoire d'images

Anthony Remazeilles 1, 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, Inria Rennes – Bretagne Atlantique , CRISAM - Inria Sophia Antipolis - Méditerranée
2 TEXMEX - Multimedia content-based indexing
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : This work deals with autonomous robotic navigation. A robotic system that moves on its own must be able to localise itself in the environment, so as to define a path to follow, and also to control its motion in order to reach a desired position. A vision based-approach is chosen, by onsidering robotic systems with an on-board camera. The navigation space is represented in a topological way by an image database acquired during a learning step. Thus, the robot localisation is directly related to a search in the database of the views that are the closest in terms of content from the one acquired by the camera. This search is performed using image retrieval methods. A sequence of overlapping views is defined by the use of topological graphs associated with the database. These views visually describe the zone the robot must traverse to reach the desired position. Robot motion is computed on-line for each image acquired by the camera. The proposed method is based on potential field and visual servoing principles. The control law constrains the robot to move inside an area where the observability of landmarks is considered acceptable. Features used during the visual servoing are initially detected in the path of images, and are automatically localised during the motion by using an image transfer method. Experimental results obtained with a 6 d.o.f. robotic arm, and simulations realised show the validity of the navigation method proposed.
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Submitted on : Friday, October 8, 2010 - 9:28:56 AM
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  • HAL Id : tel-00524505, version 1


Anthony Remazeilles. Navigation à partir d'une mémoire d'images. Interface homme-machine [cs.HC]. Université Rennes 1, 2004. Français. ⟨tel-00524505⟩



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