Study of the Navigation Parameters in Appearance-Based Navigation of a Mobile Robot

  • Luis Payá
  • Oscar Reinoso
  • Arturo Gil
  • Nicolás García
  • Maria Asunción Vicente
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3617)


Recently, appearance-based approaches have attracted the interests of computer vision researchers. Based on this idea, an appearance-based navigation method using the View-Sequenced Route-Representation model is proposed. A couple of parallel cameras is used to take low-resolution fontal images along the route to follow. Then, zero mean cross correlation is used as image comparison criterion to perform auto-location and control of the robot using only visual information. Besides, a sensibility analysis of the navigation parameters has been carried out to try to optimize the accuracy and the speed in route following. An exhaustive number of experiments using a 4-wheel drive robot with synchronous drive kinematics have been carried out.


Mobile Robot Current Image Visual Servoing Proceeding IEEE Autonomous Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Luis Payá
    • 1
  • Oscar Reinoso
    • 1
  • Arturo Gil
    • 1
  • Nicolás García
    • 1
  • Maria Asunción Vicente
    • 1
  1. 1.Departamento de Ingeniería de Sistemas IndustrialesMiguel Hernández UniversityElche (Alicante)Spain

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