Navigation and Gravitation
نویسندگان
چکیده
We propose a mathematical model for vision-based autonomous navigation on general terrains. Our model, a generalization of Mallot’s inverse perspective, assumes the direction of gravity and the speed of the mobile agent to be known, thus combining visual, inertial, and navigational information into a coherent scheme. Experiments showing the viability of this approach are presented and a sensitivity analysis with random, zero-mean Gaussian noise is provided.
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تاریخ انتشار 2006