Robotic Navigation
ROBOTIC LOCALIZATION BASED ON VISUAL ANALYSIS
Pedro Porto Buarque de Gusmão
UNINFO – Milan 06/10/2014
Robotic Navigation - Localization
Why?
The possibilities…
• Autonomous Driving – Precision in cm rather than m.
• Precise localization also for pedestrians.
• Intelligent Cleaning – Never miss a spot
Why MPEG CDVS?
Global Descriptors – Offers an a first, overall estimate of robot’s position.
Local Descriptors – Offers the necessary precision for localization.
Compression – Allows for efficient transmission in distributed systems.
Localization Process
Pavement @ t=n
pt_grey_image
cdvs_extractor
Pavement @ t=n-τ
Workstation
Robot
CDVS Descriptors
cdvs_compare(n,n-τ)
Questions?
Thanks
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