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, Kids Sweater relying on only a single on-board camera as sensory input.This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the Firearms Accessories environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features.This 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.