Appearance-based Indoor Navigation by IBVS using Mutual Information - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2016

Appearance-based Indoor Navigation by IBVS using Mutual Information


This paper presents a complete framework for image-based navigation from an image memory that exploits mutual information and does not need any feature extraction, matching or any 3D information. The navigation path is represented by a set of automatically selected key images obtained during a prior learning phase. The shared information (entropy) between the current acquired image and nearby key images is exploited to switch key images during navigation. Based on the key images and the current image, the control law proposed by [1] is used to compute the rotational velocity of a mobile robot during its qualitative visual navigation. Using our approach, real-time navigation has been performed inside a corridor and inside a room with a Pioneer 3-DX equipped with an on-board perspective camera without the need of accurate mapping and localization.
Fichier principal
Vignette du fichier
2016_icarcv_suman.pdf (1.93 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01355382 , version 1 (23-08-2016)


  • HAL Id : hal-01355382 , version 1


Suman Raj Bista, Paolo Robuffo Giordano, François Chaumette. Appearance-based Indoor Navigation by IBVS using Mutual Information. IEEE Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2016, Nov 2016, Phuket, Thailand. ⟨hal-01355382⟩
309 View
227 Download


Gmail Facebook Twitter LinkedIn More