Visual Memory Construction for Autonomous Humanoid Robot Navigation

被引：2
|
作者：
Lopez-Martinez, A. [1 ]
Cuevas, F. J. [1 ]
Sosa-Balderas, J., V [1 ]
机构：
[1] Ctr Invest Opt AC, Opt Metrol, Leon 37150, Mexico
来源：
PROGRESS IN OPTOMECHATRONIC TECHNOLOGIES | 2019年 / 233卷
关键词：
D O I：
10.1007/978-981-32-9632-9_12
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
A visual memory (VM) is a topological map that represents an environment as a direct graph of key images. Thus, visual information acquired from cameras onboard the robot are the only data to construct the map. This work presents the construction of a VM suited for the humanoid robot navigation framework. Additionally, a genetic algorithm that estimates the epipolar geometry is proposed to tackle the problem of image matching used within the VM construction process. Experimental results using a humanoid robot dataset are presented to validate the efficacy of our approach. Further, the solution for image matching based on the proposed genetic algorithm was compared with RANSAC.
引用
收藏
页码：103 / 109
页数：7
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