Robot Homing by Exploiting Panoramic Vision

  title={Robot Homing by Exploiting Panoramic Vision},
  author={Antonis A. Argyros and Kostas E. Bekris and Stelios C. Orphanoudakis and Lydia E. Kavraki},
  journal={Auton. Robots},
We propose a novel, vision-based method for robot homing, the problem of computing a route so that a robot can return to its initial “home” position after the execution of an arbitrary “prior” path. The method assumes that the robot tracks visual features in panoramic views of the environment that it acquires as it moves. By exploiting only angular information regarding the tracked features, a local control strategy moves the robot between two positions, provided that there are at least three… CONTINUE READING
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