Metric embedding of view-graphs
Autonomous Robots
Stereo panorama acquisition and automatic image disparity adjustment for stereoscopic visualization
Multimedia Tools and Applications
Three 2D-warping schemes for visual robot navigation
Autonomous Robots
Geometries of panoramic images and 3D vision
Machine Graphics & Vision International Journal
Cleaning robot navigation using panoramic views and particle clouds as landmarks
Robotics and Autonomous Systems
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A panoramic stereo sensor is presented which enables a Khepera robot to extract geometric landmark information ("disparity signatures") of its surroundings. By comparing the current panoramic disparity signature to memorized signatures the robot is able to return to already visited places ("homing"). Evaluating a database of panoramic stereo images recorded bythe robot we compare homing performance of the proposed disparity-based approach with a solely image-based method considering the size of catchment areas. Although the image-based technique yields larger catchment areas, disparity-based homing achieves a much higher degree of invariance with respect to illumination changes. To increase homing performance, we suggest an extended homing scheme integrating both landmark types.