PT Journal
AU Arnau Ramisa
   Alex Goldhoorn
   David Aldavert
   Ricardo Toledo
   Ramon Lopez de Mantaras
TI Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas
SO Journal of Intelligent and Robotic Systems
JI JIRC
PY 2011
BP 625
EP 649
VL 64
IS 3-4
DI 10.1007/s10846-011-9552-x
AB 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.
ER