Reliable Visual Exploration System with Fault Tolerance Structure
Source abstract
Abstract
Reliability of visual tracking and mapping is a challenging problem in robotics research, and it limits the promotion of vision-based mobile robot applications to a great extent. In this paper, we propose to improve the reliability of visual exploration in terms of its fault tolerance. Three modules are involved in our visual exploration system: visual localization and mapping, active controller and termination condition. High maintainability of mapping is obtained by the submap-based visual mapping module, persistent driving is achieved by a semantic segmentation based active controller, and robustness of re-localization is guaranteed by a novel completeness evaluation method in the termination condition. All the modules are integrated tightly for maintaining mapping and improving visual tracking. The system is verified with simulations and real world experiments, and all the solutions to fault tolerance are verified to overcome the failure conditions of visual tracking and mapping.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotics and Sensor-Based Localization · Robotic Path Planning Algorithms · Modular Robots and Swarm Intelligence
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Biomimetic and Intelligent Robotics Lab, Guangdong University of Technology, Guangzhou 510006, China
Department of Computing Science, University of Alberta, Edmonton, AB T6G 2R3, Canada
Funding
National Natural Science Foundation of China · Natural Science Foundation of Guangdong Province
References (24)
Show source-provided references
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