Combining invariant features and the ALV homing method for autonomous robot navigation based on panoramas

Arnau Ramisa, Alex Goldhoorn, David Aldavert, Ricardo Toledo, Ramon Lopez De Mantaras

Research output: Contribution to journalArticleResearchpeer-review

26 Citations (Scopus)

Abstract

Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the Average Landmark Vector with invariant feature points automatically detected in panoramic images to overcome this limitation. The proposed approach has been evaluated first in simulation and, as promising results are found, also in two data sets of panoramas from real world environments. © 2011 Springer Science+Business Media B.V.
Original languageEnglish
Pages (from-to)625-649
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume64
DOIs
Publication statusPublished - 1 Dec 2011

Keywords

  • Biologically inspired methods
  • Local features
  • Robot navigation
  • Visual homing

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