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Feature Based Potential Field for Low-Level Active Visual Navigation

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ROBOT 2017: Third Iberian Robotics Conference (ROBOT 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 693))

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Abstract

This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the current image frame with an attractive or neutral potential energy. The resultant action drives the vehicle towards the goal, while still favouring feature rich areas. Experimental results with a mini quadrotor equipped with a downward looking camera assess the performance of the proposed method.

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Acknowledgement

R. Rodrigues, M. Basiri, and P. Miraldo were partially supported by Fundação para a Ciência e Tecnologia (FCT) project UID/EEA/50009/2013, and by FCT grant SFRH/BPD/111495/2015. P. Aguiar was partially supported by project POCI-01-0145-FEDER-006933/SYSTEC funded by FEDER funds through COMPETE2020 - Programa Operacional Competitividade e Internacionalização (POCI) - and by national funds through FCT.

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Authors and Affiliations

  1. Institute for Systems and Robotics, Lisbon, Portugal

    Rômulo T. Rodrigues, Meysam Basiri & Pedro Miraldo

  2. Faculty of Engineering, University of Porto, Porto, Portugal

    A. Pedro Aguiar

Authors
  1. Rômulo T. Rodrigues
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  2. Meysam Basiri
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  3. A. Pedro Aguiar
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  4. Pedro Miraldo
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Corresponding author

Correspondence to Rômulo T. Rodrigues .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Rodrigues, R.T., Basiri, M., Aguiar, A.P., Miraldo, P. (2018). Feature Based Potential Field for Low-Level Active Visual Navigation. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_64

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  • DOI: https://doi.org/10.1007/978-3-319-70833-1_64

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70832-4

  • Online ISBN: 978-3-319-70833-1

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