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The Convergence Property of Goal-based Visual Navigation

Bianco, Giovanni; Zelinsky, Alex


The use of landmarks is a natural and instinctive method to determine the whereabouts of a location or a means to proceed to a particular location. Results provided in this paper indicate that landmark-based navigation possesses a corrective or feedback trait that produces a convergence bound on the movements to the goal position, in contrast to the odometry-based movements, which leads to the drift between successive navigation movements. Experiments show that the vector field approach can be...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Conference paper
Source: Proceedings of the 2002 IEEE/ RSJ International Conference on Intelligent Robots and Systems


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