Publication

Combining invariant features and the ALV homing method for autonomous robot navigation based on panoramas

Journal Article (2011)

Journal

Journal of Intelligent and Robotic Systems

Pages

625-649

Volume

64

Number

3

Doc link

http://dx.doi.org/10.1007/s10846-011-9552-x

File

Download the digital copy of the doc pdf document

Authors

Projects associated

Abstract

Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the Average Landmark Vector with invariant feature points automatically detected in panoramic images to overcome this limitation. The proposed approach has been evaluated first in simulation and, as promising results are found, also in two data sets of panoramas from real world environments.

Categories

mobile robots, robot vision.

Author keywords

robot homing

Scientific reference

A. Ramisa, A. Goldhoorn, D. Aldavert, R. Toledo and R. López de Mántaras. Combining invariant features and the ALV homing method for autonomous robot navigation based on panoramas. Journal of Intelligent and Robotic Systems, 64(3): 625-649, 2011.