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Indoor Navigation of Mobile Robot: An Image Based Approach

Abstract : In this paper, an image-based framework for navigation of a mobile robot in an indoor environment is presented. The only sensor used is an embedded monocular vision system. The environment is autonomously mapped during a learning stage in order to locate the robot on-line. A suitable control law is designed to drive the robot in an image database. To address this issue, a Virtual NonHolonomic Vehicle (VNHV) attached to the image plane is defined.
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https://hal.inria.fr/hal-02467058
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 6:04:55 PM
Last modification on : Wednesday, September 9, 2020 - 10:50:17 AM

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  • HAL Id : hal-02467058, version 1

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G Blanc, O Aïder, Y. Mezouar, T. Chateau, Philippe Martinet. Indoor Navigation of Mobile Robot: An Image Based Approach. 35th International Symposium on Robotics, ISR'04, Mar 2004, Paris, France. ⟨hal-02467058⟩

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