Video presentation of the article entitled as "Photometric-Path Planning for Vision-Based Navigation" published in the proceedings of ICRA 2020.
Abstract— We present a vision-based navigation system that
uses a visual memory to navigate. Such memory corresponds to
a topological map of key images created from moving a virtual
camera over a model of the real scene. The advantage of our
approach is that it provides a useful insight into the navigability
of a visual path without relying on a traditional learning
stage. During the navigation stage, the robot is controlled by
sequentially comparing the images stored in the memory with
the images acquired by the onboard camera.
The evaluation is conducted on a robotic arm equipped with
a camera and the model of the environment corresponds to a
top view image of an urban scene.
Paper available at: https://hal.archives-ouvertes.fr/hal-02492459/