International Journal of Computer Vision vol:74 issue:3 pages:219-236
In this work we present a novel system for autonomous mobile robot navigation. With only an omnidirectional camera as sensor, this system is able to build automatically and robustly accurate topologically organised environment maps of a complex, natural environment. It can localise itself using such a map at each moment, including both at startup (kidnapped robot) or using knowledge of former localisations. The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal. We developed a real-time visual servoing technique to steer the system along the computed path.
Goedemé T., Nuttin M., Tuytelaars T., Van Gool L., ''Omnidirectional vision based topological navigation'', International journal of computer vision, vol. 74, no. 3, pp. 219-236, September 2007 (special issue on vision and robotics - joint with the international journal of robotics research).