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Combining Dense structure from Motion and Visual SLAM in a Behavior-based Robot Control Architecture

Journal Contribution - Journal Article

In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture
Journal: International Journal of Advanced Robotic Systems
ISSN: 1729-8806
Volume: 17
Pages: 27-38
Publication year:2010
Keywords:robot navigation, stereo reconstruction, Visual SLAM
  • ORCID: /0000-0002-1774-2970/work/83442882
  • Scopus Id: 77957824856