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2012 | OriginalPaper | Chapter

Vision-Based Topological Navigation: An Implicit Solution to Loop Closure

Authors : Dr. Youcef Mezouar, Prof. Jonathan Courbon, Prof. Philippe Martinet

Published in: Handbook of Intelligent Vehicles

Publisher: Springer London

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Abstract

Autonomous navigation using a single camera is a challenging and active field of research. Among the different approaches, visual memory-based navigation strategies have gained increasing interests in the last few years. They consist of representing the mobile robot environment with visual features topologically organized gathered in a database (visual memory). Basically, the navigation process from a visual memory can be split in three stages: (1) visual memory acquisition, (2) initial localization, and (3) path planning and following (refer to Fig. 53.1). Importantly, this frame work allows accurate autonomous navigation without using explicitly a loop closure strategy. The goal of this chapter is to provide to the reader an illustrative example of such a strategy.

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Title: Vision-Based Topological Navigation: An Implicit Solution to Loop Closure
Authors: Dr. Youcef Mezouar
Prof. Jonathan Courbon
Prof. Philippe Martinet
Publisher: Springer London
Book: Handbook of Intelligent Vehicles
Print ISBN: 978-0-85729-084-7

Electronic ISBN: 978-0-85729-085-4

Copyright Year: 2012
DOI: https://doi.org/10.1007/978-0-85729-085-4_53

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