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91-35.txt
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1994-05-16
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CMPSCI TR 91-35
Segment-Based Matching For Visual Navigation
Zhongfei Zhang, Richard Weiss, Edward Riseman
April 3, 1991
The imaging s░stem involves an image produced from a reflection by a spherical mirror
to produce a 360 projection of the environment. ░This paper extends previous work on
an image-based navigation system in which the 360 view is compressed into a circular
waveform. A navigation task is specified as a sequence of homing tasks on target locations.
This is accomplished by matching landmarks from the current view with the next target view.
This paper provides a new method for matching using qualitative geometric features of each
of the waveforms. In addition, a geometric analysis allows us to do 3D reasoning about
the environment, which is sufficient for computing the rotation and translation between the
current location and the target location. It may eventually allow acquisition of a 3D model
of the environment. We show that the system performs reliably in an indoor environment.