International Journal of Computer Vision

, Volume 74, Issue 3, pp 237–260 | Cite as

Monocular Vision for Mobile Robot Localization and Autonomous Navigation

  • Eric Royer
  • Maxime Lhuillier
  • Michel Dhome
  • Jean-Marc Lavest


This paper presents a new real-time localization system for a mobile robot. We show that autonomous navigation is possible in outdoor situation with the use of a single camera and natural landmarks. To do that, we use a three step approach. In a learning step, the robot is manually guided on a path and a video sequence is recorded with a front looking camera. Then a structure from motion algorithm is used to build a 3D map from this learning sequence. Finally in the navigation step, the robot uses this map to compute its localization in real-time and it follows the learning path or a slightly different path if desired. The vision algorithms used for map building and localization are first detailed. Then a large part of the paper is dedicated to the experimental evaluation of the accuracy and robustness of our algorithms based on experimental data collected during two years in various environments.


localization navigation vision mobile robot structure from motion 


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Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Eric Royer
    • 1
  • Maxime Lhuillier
    • 1
  • Michel Dhome
    • 1
  • Jean-Marc Lavest
    • 1
  1. 1.LASMEA, UMR6602 CNRS and Université Blaise PascalAubièreFrance

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