Abstract
Optical Rails [1] is a purely view-based method for autonomous track following with a mobile robot, based upon compact omnidirectional view descriptors using basis functions on the sphere.We address the most prominent points of criticism towards holistic methods for robot navigation: Dealing with occlusions and varying illumination. This is accomplished by slicing the omnidirectional view into segments, enabling dynamic visual fields capable of masking out occlusions while preserving proven, efficient paradigms for holistic view comparison and steering.
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Dederscheck, D., Zahn, M., Friedrich, H., Mester, R. (2010). Slicing the View: Occlusion-Aware View-Based Robot Navigation. In: Goesele, M., Roth, S., Kuijper, A., Schiele, B., Schindler, K. (eds) Pattern Recognition. DAGM 2010. Lecture Notes in Computer Science, vol 6376. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15986-2_12
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DOI: https://doi.org/10.1007/978-3-642-15986-2_12
Publisher Name: Springer, Berlin, Heidelberg
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