Monocular Vision for Mobile Robot Localization and Autonomous Navigation

Abstract : This paper presents a new real-time localization system for a mobile robot. We show that autonomous navigation is possible in outdoor situation with the use of a single camera and natural landmarks. To do that, we use a three step approach. In a learning step, the robot is manually guided on a path and a video sequence is recorded with a front looking camera. Then a structure from motion algorithm is used to build a 3D map from this learning sequence. Finally in the navigation step, the robot uses this map to compute its localization in real-time and it follows the learning path or a slightly different path if desired. The vision algorithms used for map building and localization are first detailed. Then a large part of the paper is dedicated to the experimental evaluation of the accuracy and robustness of our algorithms based on experimental data collected during two years in various environments.
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International Journal of Computer Vision, Springer Verlag, 2007, 74 (3), pp.237-260. 〈10.1007/s11263-006-0023-y〉
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Eric Royer, Maxime Lhuillier, Michel Dhome, Jean-Marc Lavest. Monocular Vision for Mobile Robot Localization and Autonomous Navigation. International Journal of Computer Vision, Springer Verlag, 2007, 74 (3), pp.237-260. 〈10.1007/s11263-006-0023-y〉. 〈hal-01635679〉

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