Appearance based processes for visual navigation

Abstract

. This paper describes the use of appearance based vision for defining visual processes for navigation. A visual processes which transform images to commands and events. A family of visual processes are defined by associating the appearance of a scene from a given viewpoint with the simple trajectories. Appearance is captured as a set of low-resolution images. Energy normalised cross correlation is used to maintain heading, to estimate confidence and to servo control a robot vehicle while following a path. Experimental results are presented which compare results with a single camera, a pair of parallel cameras and a pair of divergent cameras. The most accurate (and robust) navigation is found with a pair of cameras which are slightly divergent. 1 Introduction Visual navigation requires fast and robust image processing. Traditional reconstruction approaches have not provided an adequate solution for navigation because of the time taken for image processing, and the unstable nature of s...