BMVC 2004, Kingston, 7th-9th Sept, 2004
Indoor autonomous navigation using visual memory and pattern tracking
O. Ait Aider, T. Chateau and J.T. Laprest� (Universite Blaise-Pascal,
The paper deals with autonomous environment mapping, localisation and
navigation using exclusively monocular vision and multiple 2D pattern tracking.
The environment map is a mosaic of 2D patterns detected on the ceiling
plane and used as natural landmarks. The robot is able to reproduce learned
trajectories defined by key images representing the visual memory. The pattern
tracker is based on particle filetring. It uses both image contours and gray
scale level variations to track efficiently 2D patterns on cluttered background.
An original observation model used for filter state updating is presented.