Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

[摘要] In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture.

[学科分类] 自动化工程

[关键词] Visually guided robots;Dense Structure from Motion;Visual Simultaneous Localization and Mapping;Behavior-based Robot Control;Intelligent Mobile Robots