Appearance based process for visual navigation
- 22 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 551-557
- https://doi.org/10.1109/iros.1997.655066
Abstract
Describes the use of appearance based vision for defining visual processes for navigation. A visual processes which transform images to commands and events. A family of visual processes are defined by associating the appearance of a scene from a given viewpoint with the simple trajectories. Appearance is captured as a set of low-resolution images. Energy normalised cross correlation is used to maintain heading, to estimate confidence and to servo control a robot vehicle while following a path. Experimental results are presented which compare results with a single camera, a pair of parallel cameras and a pair of divergent cameras. The most accurate (and robust) navigation is found with a pair of cameras which are slightly divergent.Keywords
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