Şahin, Yiğit
An algorithm for visual topological localization and navigation is proposed. Landmark detection and tracking is performed in successive frames to determine angular changes between repetitive and salient features. This angular state is used to generate heading vector which will lead the robot to the target scene. This reactive navigation behavior is aided with localization and path planing algorithms to complete the SLAM capability. Our algorithm is tested in 2 different natural indoor environments. Results are promising in the sense that the accuracy is enough for autonomous navigation purposes. Room to improve topics are discussed.


Topological Navigation Algorithm Design and Analysis Using Spherical Images
Şahin, Yasin; Koku, Ahmet Buğra; Department of Mechanical Engineering (2022-8-23)
A topological navigation algorithm that has the capability of mapping and localization based on visual contents is proposed. Keypoint detection and feature matching are conducted on spherical images to extract significant features among sequential frames. Robot movement direction is estimated based on historical angle differences of significant features to reach the final destination. The navigation process is supported with visual egocentric localization to gain simultaneous localization and mapping compet...
Development of a visual object localization module for mobile robots
Şahin, Erol (1999-01-01)
Reports preliminary results from the design and implementation of a visual object localization module for mobile robots. The module takes an object-based approach to visual processing and relies on a preprocessing step that segments objects from the image. By tracking the size and the eccentricity of the objects in the image while the robot is moving, the visual object localization module can determine the position of objects relative to the robot using the displacement obtained from its odometry. In locali...
Implementation Studies of Robot Swarm Navigation Using Potential Functions and Panel Methods
Merheb, Abdel-Razzak; GAZİ, VEYSEL; Sezer Uzol, Nilay (2016-10-01)
This paper presents a practical swarm navigation algorithm based on potential functions and properties of inviscid incompressible flows. Panel methods are used to solve the flow equations around complex shaped obstacles and to generate the flowlines, which provide collision-free paths to the goal position. Safe swarm navigation is achieved by following the generated streamlines. Potential functions are used to achieve and maintain group cohesion or a geometric formation during navigation. The algorithm is i...
Experimental Study Of Robot Formation Control And Navigation Using Potential Functions And Panel Method
Merheb, Abdel Razzak; Atas, Yunus; Gazi, Veysel; Sezer Uzol, Nilay (2010-06-09)
In this paper an implementation of a collision free navigation algorithm for robot swarm based on the panel method is discussed. The well known panel method is used to solve the governing equations for inviscid incompressible potential flow around rigid objects with tangency boundary conditions, providing the robots with safe trajectories to the target. In addition, artificial potential functions are used to force the swarm to achieve a predefined geometrical shape. Experimental results are obtained using e...
Implementation of Robot Formation Control and Navigation Using Real Time Panel Method
Merheb, Abdel Razzak; Atas, Yunus; Gazi, Veysel; Sezer Uzol, Nilay (null; 2010-10-22)
Citation Formats
Y. Şahin, “DEVELOPMENT OF AN INDOOR REACTIVE NAVIGATION METHOD USING SPHERICAL IMAGES,” M.S. - Master of Science, Middle East Technical University, 2021.