Visual navigation with biomimetic robot

Computer Engineering and Applications ›› 2012, Vol. 48 ›› Issue (22): 1-9.

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Visual navigation with biomimetic robot

WU Junjun1，2, HU Guosheng1, ZHU Kewu1

1.Guangdong Food and Drug Vocational College, Guangzhou 510520, China
2.School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China

Online:2012-08-01 Published:2012-08-06

仿生机器人视觉导航研究分析

吴俊君1，2，胡国生1，朱克武1

1.广东食品药品职业学院，广州 510520
2.华南理工大学机械与汽车工程学院，广州 510640

Abstract

Abstract: Visual navigation is a very important technology to autonomous robot. For introducing the newest international researches on visual navigation, the important problems are analyzed, such as visual simultaneous localization and mapping, loop-closure detection, visual homing. A new framework of visual SLAM is proposed, two key theories are analyzed, and then development trend of visual navigation and some troubles are summarized.

Key words: biomimetic robot, visual navigation, Simultaneous Localization and Mapping（SLAM）, loop-closure, visual homing

摘要： 视觉导航技术是保证机器人自主移动的关键技术之一。为了从整体上把握当前国际上最新的视觉导航研究动态，全面评述了仿生机器人视觉导航技术的研究进展，重点分析了视觉SLAM（Simultaneous Localization and Mapping）、闭环探测、视觉返家三个关键问题的研究现状及存在的问题。提出了一个新的视觉SLAM算法框架，给出了待解决的关键理论问题，并对视觉导航技术发展的难点及未来趋势进行了总结。

关键词: 仿生机器人, 视觉导航, 同时定位与地图构建, 闭环探测, 视觉返家

WU Junjun1，2, HU Guosheng1, ZHU Kewu1. Visual navigation with biomimetic robot[J]. Computer Engineering and Applications, 2012, 48(22): 1-9.

吴俊君1，2，胡国生1，朱克武1. 仿生机器人视觉导航研究分析[J]. 计算机工程与应用, 2012, 48(22): 1-9.

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Visual navigation with biomimetic robot

仿生机器人视觉导航研究分析

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