Angle-based homing from a reference image set using the 1D trifocal tensor

Abstract

This paper presents a visual homing method for a robot moving on the ground plane. The approach employs a set of omnidirectional images acquired previously at different locations (including the goal position) in the environment, and the current image taken by the robot. We present as contribution a method to obtain the relative angles between all these… (More)
DOI: 10.1007/s10514-012-9313-0

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