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Volume 7 Issue 4
Jun.  2020

IEEE/CAA Journal of Automatica Sinica

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Luping Wang and Hui Wei, "Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1190-1200, July 2020. doi: 10.1109/JAS.2020.1003117
Citation: Luping Wang and Hui Wei, "Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1190-1200, July 2020. doi: 10.1109/JAS.2020.1003117

Avoiding Non-Manhattan Obstacles Based on Projection of Spatial Corners in Indoor Environment

doi: 10.1109/JAS.2020.1003117
Funds:  This work was supported by the National Natural Science Foundation of China (61771146, 61375122), the National Thirteen 5-Year Plan for Science and Technology (2017YFC1703303), and in part by Shanghai Science and Technology Development Funds (13dz2260200, 13511504300)
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  • Monocular vision-based navigation is a considerable ability for a home mobile robot. However, due to diverse disturbances, helping robots avoid obstacles, especially non-Manhattan obstacles, remains a big challenge. In indoor environments, there are many spatial right-corners that are projected into two dimensional projections with special geometric configurations. These projections, which consist of three lines, might enable us to estimate their position and orientation in 3D scenes. In this paper, we present a method for home robots to avoid non-Manhattan obstacles in indoor environments from a monocular camera. The approach first detects non-Manhattan obstacles. Through analyzing geometric features and constraints, it is possible to estimate posture differences between orientation of the robot and non-Manhattan obstacles. Finally according to the convergence of posture differences, the robot can adjust its orientation to keep pace with the pose of detected non-Manhattan obstacles, making it possible avoid these obstacles by itself. Based on geometric inferences, the proposed approach requires no prior training or any knowledge of the camera’s internal parameters, making it practical for robots navigation. Furthermore, the method is robust to errors in calibration and image noise. We compared the errors from corners of estimated non-Manhattan obstacles against the ground truth. Furthermore, we evaluate the validity of convergence of differences between the robot orientation and the posture of non-Manhattan obstacles. The experimental results showed that our method is capable of avoiding non-Manhattan obstacles, meeting the requirements for indoor robot navigation.

     

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    Highlights

    • A method is presented to avoid non-Manhattan obstacles in an indoor environment from a monocular camera.
    • The method can cope with the non-Manhattan obstacle without prior training, making it practical and efficient for a navigating robot.
    • The approach is robust against changes in illumination and color in 3D scenes, without the knowledge of camera’s intrinsic parameters, nor of the relation between the camera and world.

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