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A. Cherubini, F. Chaumette. Visual navigation with a time-independent varying reference. In IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, Pages 5968-5973, St Louis, USA, October 2009.

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In this paper, we present a controller for visual navigation, which utilizes a time-independent varying reference in the feedback law. The navigation framework relies on a monocular camera, and the path is represented as a series of key images. The varying reference is determined using a vector field, derived from the previous and next key images. Results in a simulated environment, as well as on a real robot, show the advantages of the varying reference, with respect tone, in the image, as well as in the 3D state space


Francois Chaumette

BibTex Reference

   Author = {Cherubini, A. and Chaumette, F.},
   Title = {Visual navigation with a time-independent varying reference},
   BookTitle = {IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09},
   Pages = {5968--5973},
   Address = {St Louis, USA},
   Month = {October},
   Year = {2009}

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