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
Authors
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Ramisa Ayats, Arnau
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Goldhoorn, Alex
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Aldavert Miró, David
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Toledo Morales, Ricardo
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López de Mántaras, Ramón
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.
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