TY  - JOUR
AU  - Arnau Ramisa
AU  - Alex Goldhoorn
AU  - David Aldavert
AU  - Ricardo Toledo
AU  - Ramon Lopez de Mantaras
PY  - 2011//
TI  - Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas
T2  - JIRC
JO  - Journal of Intelligent and Robotic Systems
SP  - 625
EP  - 649
VL  - 64
IS  - 3-4
PB  - Springer Netherlands
N2  - 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.
SN  - 0921-0296
UR  - http://dx.doi.org/10.1007/s10846-011-9552-x
N1  - RV;ADAS
ID  - Arnau Ramisa2011
ER  -