Image-based path following control of mobile robots with central catadioptric cameras
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual navigation of mobile robot using optical flow and visual potential field
RobVis'08 Proceedings of the 2nd international conference on Robot vision
Appearance-based navigation and homing for autonomous mobile robot
Image and Vision Computing
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The automatic landmark identification is very important in autonomous robot navigation tasks. In this work we use a monocular omnidirectional vision system to extract images features, and with help of the conformal geometric algebra (CGA), we show how these features can be used to calculate projective and permutation p2-invariants. These p2-invariants represent scene sub-landmarks and a set of them characterize a landmark.