Using model-based localization with active navigation

Vision is an important sensor used for mobile robot navigation. One approach to localization which is based on vision is to compute camera egomotion with respect to base images. What characterizes this method of localization is that its performance varies greatly in different positions. Active navigation is an approach to path and sensing planning which is designed to address varying performance of a sensor across the configuration space. We describe how to integrate a vision-based localization sensor with active navigation. We explain the localization process, how its performance varies across the configuration space, and the use of this variation by active navigation.