Feature-constrained Active Visual SLAM for Mobile Robot Navigation

Xinke Deng, Zixu Zhang, Avishai Sintov, Jing Huang, Timothy Wolfe Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper focuses on tracking failure avoidance during vision-based navigation to a desired goal in unknown environments. While using feature-based Visual Simultaneous Localization and Mapping (VSLAM), continuous identification and association of map points are required during motion. Thus, we discuss a motion planning framework that takes into account sensory constraints for a reliable navigation. We use information available in the SLAM and propose a data-driven approach to predict the number of map points associated in a given pose. Then, a distance-optimal path planner utilizes the model to constrain paths such that the number of associated map points in each pose is above a threshold. We also include an online mapping of the environment for collision avoidance. Overall, we propose an iterative motion planning framework that enables real-time replanning after the acquisition of more information. Experiments in two environments demonstrate the performance of the proposed framework.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7233-7238
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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