Topological Navigation Algorithm Design and Analysis Using Spherical Images

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2022-8-23

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Şahin, Yasin

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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 competence. The algorithm is tested in different scenarios in which accurate results are obtained in terms of autonomous navigation objectives. Development opportunities are examined to criticize possible future steps.

Subject Keywords

Topological Navigation, Qualitative Navigation, Spherical Image, Equirectangular Image, Keypoint Detection, Feature Matching, Landmark Detection

URI

https://hdl.handle.net/11511/98697

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

Y. Şahin, “Topological Navigation Algorithm Design and Analysis Using Spherical Images,” M.S. - Master of Science, Middle East Technical University, 2022.