Feature topology-map based navigation using omnidirectional camera

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  • MEN Guannan
    National Institute of Advanced Industrial Science and Technology (AIST)
  • KAMIMURA Akiya
    National Institute of Advanced Industrial Science and Technology (AIST)

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Other Title
  • 全方位カメラを用いた特徴トポロジーマップに基づくナビゲーション

Description

<p>This research aims to generate a feature-based topological map that extracts and stores features of a place using an omnidirectional camera as a means of navigation. A specific place is recognized by using YOLO object detection and Optical Flow results. The closed-loop of the map is detected by a PCA-sift image feature extraction algorithm and the feature comparison using a fast k-means clustering algorithm (AFK-mc2). Furthermore, a topological map connecting each node is created. The proposed method is expected for navigation under limited memory space.</p>

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