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Image-based robot navigation from an image memory

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Academic year: 2021

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Figure

Figure 1: Qualitative localization of the robotic system by image retrieval.
Figure 3: General control loop used with : 2 H p 1 = K 2 H n 1 K −1 , 2 H n 1 = 2 R 1 + 2 t 1 1 n ⊤ d π ! and β 1,j = d jZ 1 d π (2) K represents the camera intrinsic parameters, and c 2 the epipole of the second camera
Figure 4: Relation induced by an homography between two views
Figure 5: Motions along the optical axis: (a) visibility cone associated with free area I f ree , (b) comparing the image borders after a motion along the optical axis
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