Frédéric Labrosse. Short and long-range visual navigation
using warped panoramic images. Robotics ans
Autonomous Systems, 55(9), pages 675-684, 2007.
In this paper, we present a method that uses panoramic images to
perform long-range navigation as a succession of short-range
homing steps along a route specified by appearances of the
environment of the robot along the route. Our method is
different from others in that it does not extract any features
from the images and only performs simple image processing
operations. The method does only make weak assumptions about the
surroundings of the robot, assumptions that are discussed.
Furthermore, the method uses a technique borrowed from computer
graphics to simulate the effect in the images of short
translations of the robot to compute local motion parameters.
Finally, the proposed method shows that it is possible to perform
navigation without explicitly knowing where the destination is
nor where the robot currently is. Results in our Lab are
presented that show the performance of the proposed system.