Visual Navigation for Mobile Robots: A Survey

  title={Visual Navigation for Mobile Robots: A Survey},
  author={Francisco Bonin-Font and Alberto Ortiz and Gabriel Oliver},
  journal={Journal of Intelligent and Robotic Systems},
Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as localization, automatic map construction, autonomous navigation, path following, inspection, monitoring or risky situation detection. This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and… 
Survey: Visual Navigation for Mobile Robot
This paper surveys almost all those papers by researchers whose works provided wide and numerous break-through in visual navigation techniques for land, aerial and autonomous underwater vehicles in the field of autonomous mobile robot.
Non-metric navigation for mobile robot using optical flow
A flexible robot heading decision making framework is presented that is able to incorporate higher level navigation task on top of obstacle avoiding behaviour and the effectiveness of the non-metric navigation strategy in unknown environment is demonstrated.
Mobile robot navigation using a vision based approach
This paper proposes a methodology based on visual servoing using a single Pan Tilt Zoom network camera mounted on the robot as the primary sensor for indoor mobile robot navigation, to develop a vision based navigation system, using asingle high quality PTZ camera to capture and process images in real-time.
Stereo-based visual navigation of mobile robots in unknown environments
A stereo vision-based algorithm for mobile robots navigation and exploration in unknown outdoor environments is proposed and implemented on a nonholonomic mobile robot through construction of the map of circumference in real-time.
Topological Indoor Localization and Navigation for Autonomous Mobile Robot
A novel topological map-building-based localization and navigation method is proposed, based on the depth curve provided by a 3D sensor, and a progressive Bayesian classifier is developed to realize direct corridor type identification.
Autonomous Visual Navigation and Laser-Based Moving Obstacle Avoidance
This paper proposes and validate a framework for avoiding moving obstacles during visual navigation with a wheeled mobile robot, and takes explicitly into account obstacle velocities, estimated using an appropriate Kalman-based observer.
Experimental Study II: Vision-Based Navigation of Mobile Robots
In mobile robot navigation, simultaneous localization and mapping (SLAM) technique has also been popularly researched and several probable solutions to the problem have been proposed by the researchers.
A monocular mobile robot reactive navigation approach based on the inverse perspective transformation
An approach to visual obstacle avoidance and reactive robot navigation for outdoor and indoor environments and the range of scenarios where this proposal has proved to be useful are illustrated.
Visual navigation of a mobile robot with laser-based collision avoidance
Simulated and real experiments show that with the proposed framework, the vehicle can navigate along a visual path while avoiding collisions, and can also deal with unavoidable obstacles, which make the robot decelerate and eventually stop.
A Novel Mobile Robot Navigation Method Based on Hand-Drawn Paths
A novel interactive navigation based on the recognition of hand-drawn paths is proposed for mobile robots and the combination of SIFT and RANSAC algorithms are employed for improving the accuracy of the projection of slant paths in the orthogonal map.


Vision-based navigation and environmental representations with an omnidirectional camera
A method for the visual-based navigation of a mobile robot in indoor environments, using a single omnidirectional (catadioptric) camera is proposed, which significantly simplifies the solution to navigation problems, by eliminating any perspective effects.
Fast Vision-guided Mobile Robot Navigation Using Model-based Reasoning And Prediction Of Uncertainties
  • A. KosakaA. Kak
  • Computer Science
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 1992
A special aspect of the model-based vision system is the sequential reduction in the uncertainty as each image feature is matched successfully with a landmark, allowing subsequent features to be matched more easily, this being a natural byproduct of the manner in which it uses Kalman-filter based updating.
An Insect Inspired Visual Sensor for the Autonomous Navigation of a Mobile Robot
This paper deals with the autonomous navigation of a mobile robot equipped with an insect-like visual sensor based on models derived from the insect compound eyes that use optical ow information for navigation purposes, and designs a 1D panoramic sensor that performs parallel image processing and calculates local components of the optical ow.
On-line map building and navigation for autonomous mobile robots
The problem of sensor-based robot motion planning in unknown environments is addressed. The proposed solution approach prescribes the repeated sequence of two fundamental processes: perception and
Autonomous visual navigation of a mobile robot using a human-guided experience
Model-driven vision for in-door navigation
A navigation system for an autonomous mobile robot is presented, built around a graphics model, which enables prediction of the expected scene content and is used directly for prediction of line segments which allow estimation of position and orientation.
Simultaneous map building and localization for an autonomous mobile robot
  • J. LeonardH. Durrant-Whyte
  • Computer Science
    Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
  • 1991
Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori
Vision-based global localization and mapping for mobile robots
Experiments show that global localization can be achieved accurately using the scale-invariant landmarks, and the approach of pairwise submap alignment with backward correction in a consistent manner produces a better global 3-D map.
Autonomous navigation for mobile robots referring pre-recorded image sequence
  • Takayuki OhnoA. OhyaS. Yuta
  • Business
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96
  • 1996
This paper uses only vertical lines in the image as extracted features, and proposes the method to calculate the estimated differences of position and orientation from two images, and shows some results of simulations and experiments using an actual mobile robot, and examines its reliability.
Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks
A vision-based mobile robot localization and mapping algorithm, which uses scale-invariant image features as natural landmarks in unmodified environments to localize itself accurately and build a map of the environment.