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An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots
Joint Authors
Espinal, A.
Batres-Mendoza, Patricia
Guerra-Hernandez, Erick I.
Almanza-Ojeda, Dora L.
Soria-Alcaraz, Jorge Alberto
Ibarra-Manzano, M. A.
Rostro-Gonzalez, H.
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-06-24
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This article presents a novel approach to calculate and accelerate the Occupancy Grid Mapping (OGM) for real-time mobile robot navigation.
Here, we have improved the main process involved in the construction of OGMs in two ways.
On one hand, we propose a new method to perform the camera calibration (CC) process, in which we reduce the number of intermediate steps (homographies) when the reference system is transformed from the real world into a navigation map, reducing consequently the computational costs.
On the other hand, the OGM is constructed by an online probabilistic method, which simultaneously performs both the camera calibration and maps construction, thus reducing cumulative errors when these two processes are separately treated.
Furthermore, the proposed system can be easily parallelized and mapped onto a digital system (e.g., Field Programmable Gate Arrays, FPGAs) for real-time robot navigation.
American Psychological Association (APA)
Guerra-Hernandez, Erick I.& Ibarra-Manzano, M. A.& Batres-Mendoza, Patricia& Almanza-Ojeda, Dora L.& Soria-Alcaraz, Jorge Alberto& Espinal, A.…[et al.]. 2019. An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1194840
Modern Language Association (MLA)
Guerra-Hernandez, Erick I.…[et al.]. An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots. Mathematical Problems in Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1194840
American Medical Association (AMA)
Guerra-Hernandez, Erick I.& Ibarra-Manzano, M. A.& Batres-Mendoza, Patricia& Almanza-Ojeda, Dora L.& Soria-Alcaraz, Jorge Alberto& Espinal, A.…[et al.]. An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1194840
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194840