Methods of Mobile Robot Visual Navigation and Environment Mapping

摘要

State-of-the-art methods of visual navigation for mobile robots are considered. A hierarchical representation structure of the environment corresponding to the hierarchical organization of the mobile robot control system is proposed. State-of-the-art approaches to constructing map models are presented. Their development will bring the navigation system closer to that formed by the human intellect and combines vision and a semantic view of the world within cognitive maps.