Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
View-based navigation using an omniview sequence in a corridor environment
Machine Vision and Applications - Special issue: Omnidirectional vision and its applications
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
Image-based robot navigation from an image memory
Robotics and Autonomous Systems
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Monocular Vision for Mobile Robot Localization and Autonomous Navigation
International Journal of Computer Vision
Switching visual control based on epipoles for mobile robots
Robotics and Autonomous Systems
Indoor navigation of a non-holonomic mobile robot using a visual memory
Autonomous Robots
Local visual homing by warping of two-dimensional images
Robotics and Autonomous Systems
Indoor Navigation for a Humanoid Robot Using a View Sequence
International Journal of Robotics Research
Robust Appearance Based Visual Route Following for Navigation in Large-scale Outdoor Environments
International Journal of Robotics Research
International Journal of Robotics Research
Qualitative vision-based path following
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Image-based mapping and navigation with heterogenous robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A review of log-polar imaging for visual perception in robotics
Robotics and Autonomous Systems
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry
IEEE Transactions on Robotics
IEEE Transactions on Image Processing
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This paper proposes a fast image sequence-based navigation approach for a flat route represented in sparse waypoints. Instead of purely optimizing the length of the path, this paper aims to speed up the navigation by lengthening the distance between consecutive waypoints. When local visual homing in a variable velocity is applied for robot navigation between two waypoints, the robot's speed changes according to the distance between waypoints. Because long distance implies large scale difference between the robot's view and the waypoint image, log-polar transform is introduced to find a correspondence between images and infer a less accurate motion vector. In order to maintain the navigation accuracy, our prior work on local visual homing with SIFT feature matching is adopted when the robot is relatively close to the waypoint. Experiments support the proposed navigation approach in a multiple-waypoint route. Compared to other prior work on visual homing with SIFT feature matching, the proposed navigation approach requires fewer waypoints and the navigation speed is improved without compromising the accuracy in navigation.