Vision and navigation for the Carnegie-Mellon navlab
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
Landmark-based navigation for a mobile robot
Proceedings of the fifth international conference on simulation of adaptive behavior on From animals to animats 5
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
View-based navigation using an omniview sequence in a corridor environment
Machine Vision and Applications - Special issue: Omnidirectional vision and its applications
Learning efficient policies for vision-based navigation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Efficient vision-based navigation
Autonomous Robots
A fast robot homing approach using sparse image waypoints
Image and Vision Computing
Robust visual localization of a humanoid robot in a symmetric space
MICAI'12 Proceedings of the 11th Mexican international conference on Advances in Artificial Intelligence - Volume Part I
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Humanoid robots are expected to work in the human environment due to their similarity to the human shape, and they are required to achieve localization and navigation autonomously. In this paper, indoor navigation is realized based on a view-based approach using a camera mounted on the head. In the case of a humanoid robot, image blur and swing due to walking is a crucial issue for image matching during localization. The quantitative effect of walking on the image is firstly investigated by utilizing a motion capture system. Then a method to generate a stable view sequence is proposed based on the detection of optical flows. The navigation function with the proposed method was implemented on a humanoid robot HRP-2, and the effectiveness was confirmed by indoor walking experiments.