Qualitative vision-based mobile robot navigation

@article{Chen2006QualitativeVM,
  title={Qualitative vision-based mobile robot navigation},
  author={Zhichao Chen and Stanley T. Birchfield},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
  year={2006},
  pages={2686-2692}
}
We present a novel, simple algorithm for mobile robot navigation. Using a teach-replay approach, the robot is manually led along a desired path in a teaching phase, then the robot autonomously follows that path in a replay phase. The technique requires a single off-the-shelf, forward-looking camera with no calibration (including no calibration for lens distortion). Feature points are automatically detected and tracked throughout the image sequence, and the feature coordinates in the replay… CONTINUE READING
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