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Issue No.01 - January (2005 vol.27)
pp: 78-87
A route navigation method for a mobile robot with an omnidirectional image sensor is described. The route is memorized from a series of consecutive omnidirectional images of the horizon when the robot moves to its goal. While the robot is navigating to the goal point, input is matched against the memorized spatio-temporal route pattern by using dual active contour models and the exact robot position and orientation is estimated from the converged shape of the active contour models.
Omnidirectional vision, route panorama, localization, navigation, active contour model.
Yasushi Yagi, Kousuke Imai, Kentaro Tsuji, Masahiko Yachida, "Iconic Memory-Based Omnidirectional Route Panorama Navigation", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.27, no. 1, pp. 78-87, January 2005, doi:10.1109/TPAMI.2005.11
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