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

Pavement @ t=n-τ

Robot

pt_grey_image

cdvs_extractor

Workstation

cdvs_compare(n,n-τ) CDVS Descriptors

Questions?

Thanks

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