Image-based visual navigation for mobile robots

O'Sullivan, Liam, Corke, Peter, & Mahoney, Robert (2013) Image-based visual navigation for mobile robots. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, IEEE, Kongresszentrum Karlsruhe, Karlsruhe, Germany.


We introduce a new image-based visual navigation algorithm that allows the Cartesian velocity of a robot to be defined with respect to a set of visually observed features corresponding to previously unseen and unmapped world points. The technique is well suited to mobile robot tasks such as moving along a road or flying over the ground. We describe the algorithm in general form and present detailed simulation results for an aerial robot scenario using a spherical camera and a wide angle perspective camera, and present experimental results for a mobile ground robot.

Impact and interest:

1 citations in Scopus
Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

ID Code: 60156
Item Type: Conference Paper
Refereed: Yes
Keywords: Visual servoing, Visual navigation
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 IEEE
Deposited On: 21 May 2013 22:12
Last Modified: 21 Jan 2014 06:17

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page