Insect-inspired robotic homing
Adaptive Behavior
Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
Solutions and Ambiguities of the Structure and Motion Problem for 1DRetinal Vision
Journal of Mathematical Imaging and Vision
Two-Way Ambiguity in 2D Projective Reconstruction from Three Uncalibrated 1D Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Learning View Graphs for Robot Navigation
Autonomous Robots - Special issue on autonomous agents
Trilinearity of three perspective views and its associated tensor
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
Robotics and Autonomous Systems
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Visual homing in environments with anisotropic landmark distribution
Autonomous Robots
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
Visual control through the trifocal tensor for nonholonomic robots
Robotics and Autonomous Systems
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Omnidirectional visual control of mobile robots based on the 1D trifocal tensor
Robotics and Autonomous Systems
Visual Servoing via Advanced Numerical Methods
Visual Servoing via Advanced Numerical Methods
Vision-based exponential stabilization of mobile robots
Autonomous Robots
Homography-based visual servo tracking control of a wheeled mobile robot
IEEE Transactions on Robotics
Localization and Matching Using the Planar Trifocal Tensor With Bearing-Only Data
IEEE Transactions on Robotics
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
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This paper presents a visual homing method for a robot moving on the ground plane. The approach employs a set of omnidirectional images acquired previously at different locations (including the goal position) in the environment, and the current image taken by the robot. We present as contribution a method to obtain the relative angles between all these locations, using the computation of the 1D trifocal tensor between views and an indirect angle estimation procedure. The tensor is particularly well suited for planar motion and provides important robustness properties to our technique. Another contribution of our paper is a new control law that uses the available angles, with no range information involved, to drive the robot to the goal. Therefore, our method takes advantage of the strengths of omnidirectional vision, which provides a wide field of view and very precise angular information. We present a formal proof of the stability of the proposed control law. The performance of our approach is illustrated through simulations and different sets of experiments with real images.