Image-based homing
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 620-625 vol.1
- https://doi.org/10.1109/robot.1991.131651
Abstract
A system that allows a robot to acquire a model of its environment and to use this model to navigate is described. The system maps the environment as a set of snapshots of the world taken at target locations. The robot uses an image-based local homing algorithm to navigate between neighboring target locations. Features of the approach include an imaging system that acquires a compact, 360 degrees representation of the environment and an image-based, qualitative homing algorithm that allows the robot to navigate without explicitly inferring three-dimensional structure from the image. The results of an experiment in a typical indoor environment are described, and its argued that image-based navigation is a feasible alternative to approaches using three-dimensional models.<>Keywords
This publication has 6 references indexed in Scilit:
- Robust estimation of camera location and orientation from noisy data having outliersPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Panoramic representation of scenes for route understandingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Panorama scene analysis with conic projectionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Model-directed mobile robot navigationIEEE Transactions on Systems, Man, and Cybernetics, 1990
- Visual control of autonomous mobile robot based on self‐organizing model for pattern learningJournal of Robotic Systems, 1988
- Towards a computational theory of cognitive mapsArtificial Intelligence, 1988