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[Lab06b]
(pdf)
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Frédéric Labrosse. The visual compass: performance and
limitations of an appearance-based method. Journal of
Field Robotics, 23(10), pages 913-941, 2006.
In this article we present an algorithm to estimate the orientation
of a robot relative to an orientation specified at the beginning of
the process. This is done by computing the rotation of the robot
between successive panoramic images, grabbed on the robot while it
moves, using a subsymbolic method to match the images. The context
of the work is Simultaneous Localization And Mapping (SLAM) in
unstructured and unmodified environments. As such, very few
assumptions are made about the environment and the robot's
displacement. The algorithm's performance depends on the value of
a number of parameters being determined to provide overall good
performance of the system. The performance is evaluated in
different situations (trajectories and environments) with the same
parameters and the results show that the method performs adequately
for its intended use. In particular, the error is shown to be
drifting slowly, in fact much slower than unprocessed inertial
sensors, thus only requiring infrequent realignment, for example
when relocalizing in a topological map. Limitations of the proposed
methods are also shown and discussed.
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