In Proceedings of Towards Autonomous Robotic Systems,
University of Essex, Colchester, UK, 2004.
We present in this paper a method to incrementally estimate the
heading of a robot using panoramic images grabbed while the robot
moves in its environment. We present results that show a
performance similar to a magnetic compass. In particular, the
heading measured by the visual compass does not drift as normal
odometry does. We discuss the performance of the system as well
as its limitations. We also briefly give examples of
applications where the visual compass could be used and
constitute an improvement.