Optimal Paths for Landmark-Based Navigation by Differential-Drive Vehicles With Field-of-View Constraints.
Sourabh BhattacharyaRafael Murrieta-CidSeth HutchinsonPublished in: IEEE Trans. Robotics (2007)
Keyphrases
- field of view
- optimal path
- image acquisition
- autonomous vehicles
- single camera
- multiple cameras
- path planning
- motion from image sequences
- high resolution
- omnidirectional camera
- image resolution
- real time
- ego motion
- panoramic images
- wide angle
- geometric constraints
- wide field of view
- single viewpoint
- catadioptric cameras
- autonomous navigation
- fisheye lens
- consistent labeling
- central catadioptric
- point correspondences
- image sequences
- calibration method
- optimal solution
- indoor environments
- region of interest