A Holistic Approach to Mobile Robot Navigation using Omnidirectional Vision

@inproceedings{Winters2001AHA,
  title={A Holistic Approach to Mobile Robot Navigation using Omnidirectional Vision},
  author={Niall Winters},
  year={2001}
}
This dissertation presents a novel methodology for vision-based robot navigation. One of the key observations is that navigation systems should be designed through a holistic approach, encompassing aspects of sensor design, choice of adequate spatial representations with associated global localisation and local control schemes. We tackle a number of design issues. Taking inspiration from biology, where wide field-of-views are common, we use an omnidirectional camera. This gives us a 360… CONTINUE READING