Appearance-Based Indoor Navigation by IBVS Using Line Segments

  title={Appearance-Based Indoor Navigation by IBVS Using Line Segments},
  author={Suman Raj Bista and Paolo Robuffo Giordano and François Chaumette},
  journal={IEEE Robotics and Automation Letters},
This letter presents a method for image-based navigation from an image memory using line segments as landmarks. The entire navigation process is based on 2-D image information without using any 3-D information at all. The environment is represented by a set of reference images with overlapping landmarks, which are acquired during a prior learning phase. These reference images define the path to follow during the navigation. The switching of reference images is done exploiting the line segment… CONTINUE READING


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