Research Article
Visual Aided GPS Navigation for Autonomous Mobile Robots
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 1 - Issue 26 |
| Published: February 2010 |
| Authors: Mps Bhatia, Saurav Kumar, Akshi Kumar, Amit Kothari |
10.5120/486-796
|
| PDF not available |
Mps Bhatia, Saurav Kumar, Akshi Kumar, Amit Kothari . Visual Aided GPS Navigation for Autonomous Mobile Robots. International Journal of Computer Applications. 1, 26 (February 2010), 11-19. DOI=10.5120/486-796
@article{ 10.5120/486-796,
author = { Mps Bhatia,Saurav Kumar,Akshi Kumar,Amit Kothari },
title = { Visual Aided GPS Navigation for Autonomous Mobile Robots },
journal = { International Journal of Computer Applications },
year = { 2010 },
volume = { 1 },
number = { 26 },
pages = { 11-19 },
doi = { 10.5120/486-796 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2010
%A Mps Bhatia
%A Saurav Kumar
%A Akshi Kumar
%A Amit Kothari
%T Visual Aided GPS Navigation for Autonomous Mobile Robots%T
%J International Journal of Computer Applications
%V 1
%N 26
%P 11-19
%R 10.5120/486-796
%I Foundation of Computer Science (FCS), NY, USA
Abstract
Navigation based on GPS data has been the most commonly used methodology for the autonomous run of a mobile robot in indoor and outdoor environments. However, the reading of the GPS receivers fluctuates over a considerable range esp. in countries like India where there is a dearth of GPS signals and locally available correction table. So the commonly received value by GPS receiver can be accurate over a range of 10-15mts which is inadequate if the test results require accuracy. This paper introduces a technique for the development of a visual aided GPS navigation system for a mobile robot in which we have predefined visual landmarks for the various important landmarks which robot has to visit. In our approach, we have mounted a stereovision camera on the robot platform for image acquisition, real time object recognition, detection and local features extraction from images using Scale-Invariant Feature Transform (SIFT).
References
- A. Elfes. Using occupancy grids for mobile robot perception and navigation. Computer, 22(6): 46-57, June 1989.
- Chris Urmson, M. Bernardine Dias. Stereo vision based navigation for sun-synchronous exploration.
- David G. Lowe. Distinctive Image features from Scale-Invariant Keypoints. In the International Journal of Computer Vision, 2004.
- Don Murray and Cullen Jennings. Stereovision based mapping and navigation for mobile robots. In Proc. IEEE Int’l Conf. on Robotics and Automation, 1997.
- GPS Basics: Introduction to the system and Application overview by Jean- Marie Zogg. Chapter 6: Coordinates system, section 6.4.3. Worldwide coordinate conversion.
- H. Moravec and A. Elfes. High-resolution maps from wide-angle sonar. In Proc. IEEE Int’l Conf. on Robotics and Automation, St. Louis, Missouri, March 1985.
- Navid Nourani-Vatani, Jonathan Roberts and Mandyam V.Srinivasan. IMU aided 3D Visual odometry for car-like vehicles.
- R. Brooks and T. Lozano-Perez. A subdivision algorithm in configuration space for findpath with rotation. In Proc. of International of Joint Conference on Artificial Intelligence, pages 799-806, Karlsruhe, West Germany, Augusst 1983.
- W. Rencken. Autonomous sonar navigation in indoor, unknown and unstructured environments. In Proc. IEEE Int’l Conf. on Intelligent Robots and Systems, pages 431-438, Munich, Germany, September 1994.
- W. Rencken. Autonomous sonar navigation in indoor, unknown and unstructured environments. In Proc. IEEE Int’l Conf. on Intelligent Robots and Systems, pages 431-438, Munich, Germany, September 1994.
Index Terms
Keywords