Landmark-oriented visual navigation of a mobile robot

Abstract

This paper describes a method of landmark based vehicle guidance used for navigation in corridors and similar indoor environments. Motion tasks are specified by a symbolic course description without providing explicit geometric information. A video sensor system is used for environmental perception and landmark detection. Aspects of sensor data processing and vehicle guidance are discussed. Experimental results are reported.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>