Machine Vision and Applications

, Volume 14, Issue 2, pp 121–128

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

  • Yoshio Matsumoto
  • Masayuki Inaba
  • Hirochika Inoue
Original paper

DOI: 10.1007/s00138-002-0104-z

Cite this article as:
Matsumoto, Y., Inaba, M. & Inoue, H. Machine Vision and Applications (2003) 14: 121. doi:10.1007/s00138-002-0104-z
  • 96 Downloads

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.

Key words: View-based approach - Omnidirectional vision - Robot navigation - Map - Corridor environment 

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Yoshio Matsumoto
    • 1
  • Masayuki Inaba
    • 2
  • Hirochika Inoue
    • 2
  1. 1.Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayamacho, Ikoma city, Nara 630-0101, Japan JP
  2. 2. Department of Mechano-Informatics, Faculty of Engineering, The University of Tokyo, Tokyo, Japan JP

Personalised recommendations