Vision-based Navigation and Manipulation

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Indoor Navigation

Concept

  • As a map representation, we proposed a hybrid map using object-spatial layout-route information.
  • Global localization is based on object recognition and its pose relationship, and our local localization uses 2D-contour matching by 2D laser scanning data.
  • Our map representation is like this:
Map-repres.jpg



















  • The Object-based global localization is as follows:
GL.jpg



















Related papers



Unknown Objects Grasping

Concept

Related papers