VisNav Research

Ego-centric Navigation: the egocircle

Abstract: Our first attempt at integrating the PiPS concept with a local-global navigation scheme. It modified the DWA planner in the ROS Move Base package. The procedure required defining the egocircle representation and using it as a body-frame collision and cost-map reference for planning. Both PiPS and the egocircle lead to linear scaling in sensor throughput and collision checking, which is confirmed through computational profiling and compared to other collision checking methods.

More details will be forthcoming.1

  1. J.S. Smith, S. Feng, F. Lyu, P.A. Vela. “Real-Time Egocentric Navigation Using 3D Sensing.” In Machine Vision and Navigation , O. Sergiyenko, W. Flores-Fuentes, P. Mercorelli (eds.), Springer, 2019. book ↩︎