Autonomous Navigation within an Indoor Environment

Boris Cherevatsky, M.Sc. Thesis Seminar
Wednesday, 13.6.2012, 10:30
Taub 601
Prof. I. Shimshoni and Prof. E. Rivlin

We address the problem of robot navigation using natural visual features in a planar environment. The algorithm gets as an input a target, which is represented by a captured image from the targets pose, and a source image, captured from the starting position and should make an accurate move towards the target which can be decomposed as a rotation and translation on the plane. This algorithm can be used as a step in a higher level homing algorithm for visual navigation. In addition when all the visual features are located on a plane, orthogonal to the floor, there is a special structure for the Essential Matrix and a Homography, and a novel algorithm was proposed for finding both of them from only 2 point correspondence which gives a higher presicion and solves numerical stability issues. A theoretical connection between those entities was given, and a fast algorithm for finding one from another was proposed. This technique also gives us the ability to reconstruct the bounding walls of the environment

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