Slicing the View: Occlusion-Aware View-Based Robot Navigation
Optical Rails  is a purely view-based method for autonomous track following with a mobile robot, based upon compact omnidirectional view descriptors using basis functions on the sphere.We address the most prominent points of criticism towards holistic methods for robot navigation: Dealing with occlusions and varying illumination. This is accomplished by slicing the omnidirectional view into segments, enabling dynamic visual fields capable of masking out occlusions while preserving proven, efficient paradigms for holistic view comparison and steering.
KeywordsMobile Robot Robot Navigation Omnidirectional Camera Optimal Expansion View Descriptor
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