Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment

doi:10.1109/JAS.2020.1003117

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	Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment
	Luping Wang; Hui Wei
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:4 页码:1190-1200
关键词	Avoiding obstacle monocular vision navigation non-Manhattan obstacle spatial corner
ISSN号	2329-9266
DOI	10.1109/JAS.2020.1003117
英文摘要	Monocular vision-based navigation is a considerable ability for a home mobile robot. However, due to diverse disturbances, helping robots avoid obstacles, especially non-Manhattan obstacles, remains a big challenge. In indoor environments, there are many spatial right-corners that are projected into two dimensional projections with special geometric configurations. These projections, which consist of three lines, might enable us to estimate their position and orientation in 3D scenes. In this paper, we present a method for home robots to avoid non-Manhattan obstacles in indoor environments from a monocular camera. The approach first detects non-Manhattan obstacles. Through analyzing geometric features and constraints, it is possible to estimate posture differences between orientation of the robot and non-Manhattan obstacles. Finally according to the convergence of posture differences, the robot can adjust its orientation to keep pace with the pose of detected non-Manhattan obstacles, making it possible avoid these obstacles by itself. Based on geometric inferences, the proposed approach requires no prior training or any knowledge of the camera’s internal parameters, making it practical for robots navigation. Furthermore, the method is robust to errors in calibration and image noise. We compared the errors from corners of estimated non-Manhattan obstacles against the ground truth. Furthermore, we evaluate the validity of convergence of differences between the robot orientation and the posture of non-Manhattan obstacles. The experimental results showed that our method is capable of avoiding non-Manhattan obstacles, meeting the requirements for indoor robot navigation.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43024]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Luping Wang,Hui Wei. Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(4):1190-1200.
APA	Luping Wang,&Hui Wei.(2020).Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment.IEEE/CAA Journal of Automatica Sinica,7(4),1190-1200.
MLA	Luping Wang,et al."Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment".IEEE/CAA Journal of Automatica Sinica 7.4(2020):1190-1200.