Landmark Selection for Task-Oriented Navigation

—Many vision-based navigation systems are restricted to the use of only a limited number of landmarks when computing the camera pose. This limitation is due to the overhead of detecting and tracking these landmarks along the image sequence. A new algorithm is proposed for subset selection from the available landmarks. This algorithm searches for the subset that yields minimal uncertainty for the obtained pose parameters. Navigation tasks have different types of goals: moving along a path, photographing an object for a long period of time, etc. The significance of the various pose parameters differs for different navigation tasks. Therefore, a requirements matrix is constructed from a supplied severity function, which defines the relative importance of each parameter. This knowledge can then be used to search for the subset that minimizes the uncertainty of the important parameters, possibly at the cost of greater uncertainty in others. It is shown that the task-oriented landmark se...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Ronen Lerner, Ehud Rivlin, Ilan Shimshoni
• Keywords: IROS 2006, Navigation Tasks, Pose Parameters, Pose Parameters Differs, Robotics