The Convergence Property of Goal-based Visual Navigation
Date
2002
Authors
Bianco, Giovanni
Zelinsky, Alex
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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 used to explain the convergence property of landmark-based guidance tasks. Experiments have been carried out operating with a Nomad mobile robot equipped with real-time visual landmark tracking system.
Description
Keywords
Keywords: Computer vision; Convergence of numerical methods; Mathematical models; Motion planning; Navigation; Sensor data fusion; Goal-based visual navigation; Odometry; Real-time visual landmark tracking system; Mobile robots
Citation
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Source
Proceedings of the 2002 IEEE/ RSJ International Conference on Intelligent Robots and Systems
Type
Conference paper