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This paper presents a complete framework for image-based navigation from an image memory that exploits mutual information and does not need any feature extraction, matching or any 3D information. The navigation path is represented by a set of automatically selected key images obtained during a prior learning phase. The shared information (entropy) between the current acquired image and nearby key...
Landmark recognition is identified as one important research area in robot navigation systems. It is a key feature for building robots capable of navigating and performing tasks in human environments. However, current object recognition research largely ignores the problems that the mobile robot context introduces. We developed a landmark recognition system which is used by a humanoid robot to identify...
In robotics, vertical lines have been always very useful for autonomous robot localization and navigation in structured environments. This paper presents a robust method for matching vertical lines in omnidirectional images. Matching robustness is achieved by creating a descriptor which is very distinctive and is invariant to rotation and slight changes of illumination. We characterize the performance...
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