In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture
Original languageEnglish
Pages (from-to)27-38
Number of pages12
JournalInternational Journal of Advanced Robotic Systems
Publication statusPublished - 2010

    Research areas

  • robot navigation, stereo reconstruction, Visual SLAM

ID: 2068340