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Fusion of fixation and odometry for vehicle navigation

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3 Author(s)
Adam, A. ; Dept. of Math., Technion-Israel Inst. of Technol., Haifa, Israel ; Rivlin, E. ; Rotstein, H.

This paper deals with the problem of determining the position and orientation of an autonomous guided vehicle (AGV) by fusing odometry with the information provided by a vision system. The main idea is to exploit the ability of pointing a camera in different directions, to fixate on a point of the environment while the AGV is moving. By fixating on a landmark, one can improve the navigation accuracy even if the scene coordinates of the landmark are unknown. This is a major improvement over previous methods which assume that the coordinates of the landmark are known, since any point of the observed scene can be selected as a landmark, and not just pre-measured points. This work argues that fixation is basically a simpler procedure than previously mentioned methods. The simplification comes from the fact that only one point needs to be tracked as opposed to multiple points in other methods. This disposes of the need to be able to identify which of the landmarks is currently being tracked, through a matching algorithm or by other means. We support our findings with both experimental and simulation results

Published in:

Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:29 ,  Issue: 6 )