Visually-guided navigation by comparing two-dimensional edge images

Abstract

We present a method for navigating a robot from an initial position to a specified landmark in its visual field, using a sequence of monocular images. The location of the landmark with respect to the robot is determined using the change in size and position of the landmark in the image as the robot moves. The landmark location is estimated after the first three images are taken, and this estimate is refined after each motion. One of the novel aspects of this method is that it uses no explicit three-dimensional information.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>