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This paper presents a vision-based navigation strategy for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using a single embedded camera observing natural landmarks. In the proposed approach, images of the environment are first sampled and stored as a set of ordered key images (visual path) and organized providing a visual memory of(More)
In this paper, we present a method to efficiently manage visual memory for autonomous vehicle navigation in large scale environments. It relies on two crucial issues for real-time navigation: an efficient organisation of the memory and small computational cost. A software platform (SoViN) dedicated to visual memory management and navigation strategies(More)
Omnidirectional cameras have a wide field of view and are thus used in many robotic vision tasks. An omnidirectional view may be acquired by a fisheye camera which provides a full image compared to catadioptric visual sensors and do not increase the size and the weakness of the imaging system with respect to perspective cameras. We prove that the unified(More)
When navigating in an unknown environment for the first time, a natural behavior consists on memorizing some key views along the performed path, in order to use these references as checkpoints for a future navigation mission. The navigation framework for wheeled mobile robots presented in this paper is based on this assumption. During a human-guided(More)
In this paper, we present a complete framework for autonomous vehicle navigation using a single camera and natural landmarks. When navigating in an unknown environment for the first time, usual behavior consists of memorizing some key views along the performed path to use these references as checkpoints for future navigation missions. The navigation(More)
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In this paper, we propose a visual path following control scheme for wheeled mobile robots based on the epipolar geometry. The control law only requires the position of the epipole computed between the current and target views along the sequence of a visual memory. The proposed approach has two main advantages: explicit pose parameters decomposition is not(More)
— This paper extends our vision based navigation framework proposed in [2] to the entire class of central cameras (conventional and catadioptric cameras). During an off-line learning step, the robot performs paths which are sampled and stored as a set of ordered key images acquired by an embedded camera. The robot is then controlled by a vision-based(More)
An efficient method for global robot localization in a memory of omnidirectional images is presented. This method is valid for indoor and outdoor environments and not restricted to mobile robots. The proposed strategy is purely vision-based and uses as reference a set of prerecorded images (visual memory). The localization consists on finding in the visual(More)
Thesis Reports: François Chaumette Emanuele Menegatti Unifying vision and control for mobile robots 5 "What is essential is invisible to the eye" Abstract Nowadays, the importance of the research in mobile robotics is still increasing, motivated by the introduction of mobile robots in service tasks, where wheeled mobile robots (WMR) are particularly(More)