Real-time Vision-based Lateral Drift Correction

Hübner, Thomas; Pajarola, Renato

Real-time Vision-based Lateral Drift Correction

Files

013-016.pdf (773.71 KB)

rtvbldc.mov (2.22 MB)

Date

2009

Authors

Hübner, Thomas
Pajarola, Renato

Publisher

The Eurographics Association

Abstract

A major drawback in many robotics projects is the dependance on a specific environment and the otherwise uncertain behavior of the hardware. Simple navigation tasks like driving in a straight line can lead to a strong lateral drift over time in an unknown environment. In this paper we propose a fast and simple solution for the lateral drift problem for vision guided robots by real-time scene analysis. Without an environment-specific calibration of the robot s drive system, we balance the differential drive speed on the fly. Therefore, a feature detector is used on consecutive images. Detected feature points determine the focus of expansion (FOE) that is used for locating and correcting the robot s lateral drift. Results are presented for an unmodified real-world indoor environment that demonstrate that our method is able to correct most lateral drift, solely based on real-time vision processing.

        @inproceedings{10.2312:egs.20091037
,
booktitle = {Eurographics 2009 - Short Papers
},
editor = {P. Alliez and M. Magnor
},
title = {{Real-time Vision-based Lateral Drift Correction
}},
author = {Hübner, Thomas and 
Pajarola, Renato
},
year = {2009
},
publisher = {The Eurographics Association
},
ISBN = {},
DOI = {10.2312/egs.20091037
}
}