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

Autor
Ramisa, A.; Goldhoorn, A.; Aldavert, D.; Toledo, R.; López, R.
Tipus d'activitat
Article en revista
Revista
Journal of intelligent and robotic systems
Data de publicació
2011-12-01
Volum
64
Número
3-4
Pàgina inicial
625
Pàgina final
649
DOI
https://doi.org/10.1007/s10846-011-9552-x Obrir en finestra nova
URL
http://dx.doi.org/10.1007/s10846-011-9552-x Obrir en finestra nova
Resum
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 promis...
Paraules clau
mobile robots, robot homing, robot vision
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants

  • Ramisa Ayats, Arnau  (autor)
  • Goldhoorn, Alex  (autor)
  • Aldavert Miró, David  (autor)
  • Toledo, Ricardo  (autor)
  • López de Mántaras, Ramón  (autor)