Next Article in Journal
A Plasmonic Chip-Scale Refractive Index Sensor Design Based on Multiple Fano Resonances
Next Article in Special Issue
Towards the Internet of Flying Robots: A Survey
Previous Article in Journal
Extended Line Map-Based Precise Vehicle Localization Using 3D LIDAR
Previous Article in Special Issue
Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges
Open AccessArticle

Three Landmark Optimization Strategies for Mobile Robot Visual Homing

College of Automation, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(10), 3180; https://doi.org/10.3390/s18103180
Received: 18 August 2018 / Revised: 14 September 2018 / Accepted: 17 September 2018 / Published: 20 September 2018
(This article belongs to the Special Issue Mobile Robot Navigation)
Visual homing is an attractive autonomous mobile robot navigation technique, which only uses vision sensors to guide the robot to the specified target location. Landmark is the only input form of the visual homing approaches, which is usually represented by scale-invariant features. However, the landmark distribution has a great impact on the homing performance of the robot, as irregularly distributed landmarks will significantly reduce the navigation precision. In this paper, we propose three strategies to solve this problem. We use scale-invariant feature transform (SIFT) features as natural landmarks, and the proposed strategies can optimize the landmark distribution without over-eliminating landmarks or increasing calculation amount. Experiments on both panoramic image databases and a real mobile robot have verified the effectiveness and feasibility of the proposed strategies. View Full-Text
Keywords: mobile robot navigation; visual homing; panoramic vision; scale-invariant feature transform mobile robot navigation; visual homing; panoramic vision; scale-invariant feature transform
Show Figures

Figure 1

MDPI and ACS Style

Ji, X.; Zhu, Q.; Ma, J.; Lu, P.; Yan, T. Three Landmark Optimization Strategies for Mobile Robot Visual Homing. Sensors 2018, 18, 3180.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop