Abstract
Recently, appearance-based approaches have attracted the interests of computer vision researchers. Based on this idea, an appearance-based navigation method using the View-Sequenced Route-Representation model is proposed. A couple of parallel cameras is used to take low-resolution fontal images along the route to follow. Then, zero mean cross correlation is used as image comparison criterion to perform auto-location and control of the robot using only visual information. Besides, a sensibility analysis of the navigation parameters has been carried out to try to optimize the accuracy and the speed in route following. An exhaustive number of experiments using a 4-wheel drive robot with synchronous drive kinematics have been carried out.
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Payá, L., Reinoso, O., Gil, A., García, N., Vicente, M.A. (2005). Study of the Navigation Parameters in Appearance-Based Navigation of a Mobile Robot. In: Roli, F., Vitulano, S. (eds) Image Analysis and Processing – ICIAP 2005. ICIAP 2005. Lecture Notes in Computer Science, vol 3617. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11553595_136
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DOI: https://doi.org/10.1007/11553595_136
Publisher Name: Springer, Berlin, Heidelberg
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