全方位カメラを用いた特徴トポロジーマップに基づくナビゲーション

抄録

This research aims to generate a feature-based topological map that extracts and stores features of a place using an omnidirectional camera as a means of navigation. A specific place is recognized by using YOLO object detection and Optical Flow results. The closed-loop of the map is detected by a PCA-sift image feature extraction algorithm and the feature comparison using a fast k-means clustering algorithm (AFK-mc2). Furthermore, a topological map connecting each node is created. The proposed method is expected for navigation under limited memory space.