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Indoor Navigation of Mobile Robot: An Image Based Approach

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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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Dates and versions

hal-02467058 , version 1 (04-02-2020)

Identifiers

  • HAL Id : hal-02467058 , version 1

Cite

G Blanc, O Aït 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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