Experiments and thoughts on visual navigation
C. Thorpe, Larry H. Matthies, Hans Moravec · 2005
We describe a second generation system that drives a camera-equipped mobile robot through obstacle courses. The system, which evolved from earlier work by Moravec [6], incorporates a new path planner and has supported experiments with interest operators, motion estimation algorithms, search constraints, and speed-up methods. In this paper we concentrate on the effects of constraint and on speed improvement. We also indicate some of our plans for a follow-on system.