Kurzbeschreibung
In this paper we use the off-the-shelf mobile robot
Loomo to implement a robot tour guide for an art gallery.
The robot’s task is to locate the exhibits, in which the visitors
are interested in, and to then provide an interactive tour.
Therefore, we introduce an exploration algorithm to search for
the images along the walls. Furthermore, we use Oriented FAST
and Rotated BRIEF (ORB) feature detection, feature mapping
and homography to identify the images. Finally, we use the Robot
Operating System (ROS) navigation stack to mark the positions
of the images and to provide the navigation for a tour along the
found exhibits.