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S. Segvic, A. Remazeilles, A. Diosi, F. Chaumette. A framework for scalable vision-only navigation. In Advanced Concepts for Intelligent Vision Systems, ACIVS'07, Pages 112-124, Delft, The Netherlands, August 2007.

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This paper presents a monocular vision framework enabling feature-oriented appearance-based navigation in large outdoor environ- ments containing other moving ob jects. The framework is based on a hybrid topological-geometrical environment representation, constructed from a learning sequence acquired during a robot motion under hu- man control. The framework achieves the desired navigation functional- ity without requiring a global geometrical consistency of the underlying environment representation. The main advantages with respect to con- ventional alternatives are unlimited scalability, real-time mapping and effortless dealing with interconnected environments once the loops have been properly detected. The framework has been validated in demanding, cluttered and interconnected environments, under different imaging con- ditions. The experiments have been performed on many long sequences acquired from moving cars, as well as in real-time large-scale navigation trials relying exclusively on a single perspective camera. The obtained results imply that a globally consistent geometric environment model is not mandatory for successful vision-based outdoor navigation


Francois Chaumette

BibTex Reference

   Author = {Segvic, S. and Remazeilles, A. and Diosi, A. and Chaumette, F.},
   Title = {A framework for scalable vision-only navigation},
   BookTitle = {Advanced Concepts for Intelligent Vision Systems, ACIVS'07},
   Pages = {112--124},
   Address = {Delft, The Netherlands},
   Month = {August},
   Year = {2007}

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