%0 Journal Article
%T Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas
%A Arnau Ramisa
%A Alex Goldhoorn
%A David Aldavert
%A Ricardo Toledo
%A Ramon Lopez de Mantaras
%J Journal of Intelligent and Robotic Systems
%D 2011
%V 64
%N 3-4
%I Springer Netherlands
%@ 0921-0296
%F Arnau Ramisa2011
%O RV;ADAS
%O exported from refbase (http://refbase.cvc.uab.es/show.php?record=1728), last updated on Fri, 07 Mar 2014 16:49:58 +0100
%X 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.
%U http://dx.doi.org/10.1007/s10846-011-9552-x
%P 625-649