Jonathan Courbon

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—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, a usual behavior consists of memorizing some key views along the performed path, in order to use these references as checkpoints for a future navigation mission. The(More)
— Omnidirectional cameras have a wide field of view and are thus used in many robotic vision tasks. An omnidi-rectional 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)
—This paper presents a vision-based navigation strategy for a Vertical Takeoff 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)
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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(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(More)
—In this paper, we present a complete framework for autonomous indoor robot navigation. We show that autonomous navigation is possible in indoor situation using a single camera and natural landmarks. 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(More)