Appearance-based Indoor Navigation by IBVS using Mutual InformationReport as inadecuate

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1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE

Abstract : This paper presents a complete framework for image-based navigation from an image memory that exploits mutual information and does not need any feature extraction, matching or any 3D information. The navigation path is represented by a set of automatically selected key images obtained during a prior learning phase. The shared information entropy between the current acquired image and nearby key images is exploited to switch key images during navigation. Based on the key images and the current image, the control law proposed by 1 is used to compute the rotational velocity of a mobile robot during its qualitative visual navigation. Using our approach, real-time navigation has been performed inside a corridor and inside a room with a Pioneer 3-DX equipped with an on-board perspective camera without the need of accurate mapping and localization.

Author: Suman Raj Bista - Paolo Robuffo Giordano - Francois Chaumette -



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