Opportunistic use of vision to push back the path-planning horizon

Bart Nabbe, Derek Hoiem, Alexei A.A. Efros, Martial Hebert

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

Abstract

Mobile robots need maps or other forms of geometric information about the environment to navigate. The mobility sensors (LADAR, stereo, etc.) on these robotic vehicles can however populate these maps only up to a distance of a few tens of meters. A navigation system has no knowledge about the world beyond this sensing horizon. As a result, path planners that rely only on this knowledge are unable to anticipate obstacles sufficiently early and have no choice but to resort to an inefficient local obstacle avoidance behavior. However, recent developments in the computer vision community allows us to collect geometric information about the environment far beyond this sensing horizon. The coarse 3D geometric estimation that can be recovered is derived from an appearance-based model. That uses a multiple-hypothesis framework to robustly estimate scene structure from a single image and estimating confidences for each geometric label. This 3D geometric estimation is used with a previously presented navigation strategy that reasons about sensor constraints and plans for measurements while navigating towards the goal. The validity of the sensing method and navigation strategy is supported by results from simulations as well as field experiments with a real robotic platform. These results also show that significant reduction in path length can be achieved by using this framework.

Original languageEnglish (US)
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages2388-2393
Number of pages6
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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