Multi-Information Local Map for Visual Navigation.
Kazunori Onoguchi, Mutsumi Watanabe, Yasukazu Okamoto, Yoshinori Kuno · Journal of the Robotics Society of Japan · 1993
In this paper, we present MIL (Multi-Information Local) map which is available for efficient navi gation of a mobile robot in a known environment.A MIL map is equipped with procedures for checking a self-location at critical points in the environment, such as corners or intersections.This map also has information about the movement style between each location check point, such as following a wall.A mobile robot can move to the destination efficiently because a robot can estimate its self-location at each location check point by only executing procedures written in a MIL map, and can move between location check points by obeying the movement style written in a MIL map.A MIL map is created interactively from stereo images taken at location check points before autonomous movement.We have implemented a visual navigation system using a MIL map on a mobile robot.Experimental results have shown the usefulness of a MIL map.