Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mirrors in motion: Epipolar geometry and motion estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Indoor navigation of a non-holonomic mobile robot using a visual memory
Autonomous Robots
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This paper presents a vision-based navigation strategy for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using a single embedded camera observing natural landmarks. In the proposed approach, images of the environment are first sampled and stored as a set of ordered key images (visual path) and organized providing a visual memory of the environment. The robot navigation task is then defined as a concatenation of visual path subsets (called visual route) linking the current observed image and a target image belonging to the visual memory. The UAV is controlled to reach each image of the visual route using a vision-based control law adapted to its dynamic model and without explicitly planning any trajectory. This framework is largely substantiated by experiments with a X4-flyer equipped with a fisheye camera.