Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

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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 SEA RICH OMEGA-3 LEMON D3 1500/750 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 Baby Crewneck Cardigan 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.