Robot guidance navigation with stereo-vision and a limited field of view

Abstract

We describe a method for robot guidance navigation (homing) that is purely based on vision with a stereo camera System which has a limited field of view. Instead of using specific landmarks our algorithm is based on warping of snapshots. Therefore it is meant to work even in environments where it is difficult to extract distinctive visual features. Stereo-vision is used instead of an equal distance assumption to improve the performance especially in outdoor environments.