Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
Radon-Based Structure from Motion without Correspondences
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Visual homing in environments with anisotropic landmark distribution
Autonomous Robots
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
View-based robot localization using spherical harmonics: concept and first experimental results
Proceedings of the 29th DAGM conference on Pattern recognition
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
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We present a view-based method for steering a robot in a network of positions; this includes navigation along a prerecorded path, but also allows for arbitrary movement of the robot between adjacent positions in the network. The approach uses an upward-looking omnidirectional camera; even a very modest quality of the optical system is sufficient, since all views are represented in terms of low-order basis functions (spherical harmonics). Motor control signals for the robot are derived from a differential matching approach; the computation of the involved gradient information is extremely simplified by exploiting the fact that all images are represented in terms of basis functions. The viability of the approach for steering the robot has been shown in extensive simulations using photorealistic views; the validity of these simulations in comparison to a tangible system implementation operating in a real indoor scene has been shown in previous investigations [5].