Visual Homing From Scale With an Uncalibrated Omnidirectional Camera

  title={Visual Homing From Scale With an Uncalibrated Omnidirectional Camera},
  author={Ming Liu and C{\'e}dric Pradalier and Roland Siegwart},
  journal={IEEE Transactions on Robotics},
Visual homing enables a mobile robot to move to a reference position using only visual information. The approaches that we present in this paper utilize matched image key points (e.g., scale-invariant feature transform) that are extracted from an omnidirectional camera as inputs. First, we propose three visual homing methods that are based on feature scale, bearing, and the combination of both, under an image-based visual servoing framework. Second, considering computational cost, we propose a… CONTINUE READING
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