Skip to content (access key 's')
Logo of Technion
Logo of CS Department
Logo of CS4People
Events

The Taub Faculty of Computer Science Events and Talks

Autonomous Navigation within an Indoor Environment
event speaker icon
Boris Cherevatsky (M.Sc. Thesis Seminar)
event date icon
Wednesday, 13.06.2012, 10:30
event location icon
Taub 601
event speaker icon
Advisor: Prof. I. Shimshoni and Prof. E. Rivlin
We address the problem of robot navigation using natural visual features in a planar environment. The algorithm gets as an input a target, which is represented by a captured image from the targets pose, and a source image, captured from the starting position and should make an accurate move towards the target which can be decomposed as a rotation and translation on the plane. This algorithm can be used as a step in a higher level homing algorithm for visual navigation. In addition when all the visual features are located on a plane, orthogonal to the floor, there is a special structure for the Essential Matrix and a Homography, and a novel algorithm was proposed for finding both of them from only 2 point correspondence which gives a higher presicion and solves numerical stability issues. A theoretical connection between those entities was given, and a fast algorithm for finding one from another was proposed. This technique also gives us the ability to reconstruct the bounding walls of the environment