Image-based prediction of landmark features for mobile robot navigation
- 22 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1040-1046
- https://doi.org/10.1109/robot.1997.614272
Abstract
We have been developing an architecture for vision-based navigation which relies on continuous feedback from visual "landmarks" to control robot motion, In this approach, landmarks are consistently located and acquired as they come into view. To make this process efficient and robust, it is important that the image locations of these features can be predicted from available image information. In this article, we discuss methods for direct image-based prediction of point and line features for a mobile system operating on a planar surface. Preliminary experimental results suggest that image-based prediction con be performed efficiently and with sufficient accuracy to ensure robust acquisition of navigational landmarks.Keywords
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