Autolllatic LandInark Selection for Navigation 'With Panoral11ic Vision

The use of visual landmarks for robot navigation is a promising field. It is apparent that the success of navigating by visual landmarks depends on the landmarks chosen. This paper reviews a monocular camera system proposed by [Bianco and Zelinsky, 1999] which automatically selects landmarks and uses them for localisation and navigation tasks. The monocular system's landmark selection policy results in a limited area in which the robot can successfully localise itself. A new landmark navigation system which uses a panoramic vision system to overcome this restriction is proposed and the first steps taken in the development of the new system are reported.