"2"^^ . "978-3-540-78315-2" . "visual navigation"@en . . "A Simple Visual Navigation System with Convergence Property" . "A Simple Visual Navigation System with Convergence Property" . . . "P\u0159eu\u010Dil, Libor" . "Z(MSM6840770038)" . . "2"^^ . "The aim of this paper is to present a convergence property of a simple vision based navigation system for a mobile robot. A robot equipped with a single camera is guided by a human operator along a path consisting of straight segments. During this guided tour, local image invariants are extracted from acquired frames and odometric data are collected. When navigating learned path, the vision is used to reckon direction to the start point of next straight segment. Odometric measurements are utilized to estimate distance to this point. A simple linear model of this navigation system is lined up and its properties are examined. We proclaim a theorem, which states, that for a limited odometric error and ''reasonable'' trajectory, the robot uncertainty in position estimation does not diverge. A formal proof of this theorem is given for regular polygonal trajectories. The proclaimed convergence theorem is also experimentally verified."@en . "Krajn\u00EDk, Tom\u00E1\u0161" . "21230" . . "10"^^ . "Jednoduch\u00FD vizu\u00E1ln\u00ED naviga\u010Dn\u00ED syst\u00E9m pro mobiln\u00ED robot"@cs . "RIV/68407700:21230/08:03141775!RIV09-MSM-21230___" . "354516" . "[D332358EBF16]" . "The aim of this paper is to present a convergence property of a simple vision based navigation system for a mobile robot. A robot equipped with a single camera is guided by a human operator along a path consisting of straight segments. During this guided tour, local image invariants are extracted from acquired frames and odometric data are collected. When navigating learned path, the vision is used to reckon direction to the start point of next straight segment. Odometric measurements are utilized to estimate distance to this point. A simple linear model of this navigation system is lined up and its properties are examined. We proclaim a theorem, which states, that for a limited odometric error and ''reasonable'' trajectory, the robot uncertainty in position estimation does not diverge. A formal proof of this theorem is given for regular polygonal trajectories. The proclaimed convergence theorem is also experimentally verified." . "Heidelberg" . . "RIV/68407700:21230/08:03141775" . . "European Robotics Symposium 2008" . "Springer-Verlag" . "1610-7438" . . . . "A Simple Visual Navigation System with Convergence Property"@en . . "2008-03-26+01:00"^^ . "A Simple Visual Navigation System with Convergence Property"@en . . "Tento p\u0159\u00EDsp\u011Bvek popisuje konvergenci jednoduch\u00E9ho naviga\u010Dn\u00EDho syst\u00E9mu pro mobiln\u00ED robot. Robot vybaven\u00FD jednou kamerou je proveden prost\u0159ed\u00EDm po cest\u011B tvaru lomen\u00E9 \u010D\u00E1ry. B\u011Bhem t\u00E9to cesty robot extrahuje z obrazu okol\u00ED v\u00FDzna\u010Dn\u00E9 body a zaznamen\u00E1v\u00E1 jejich pozice spolu s odometrick\u00FDmi daty. B\u011Bhem navigace po t\u00E9to nau\u010Den\u00E9 cest\u011B, zapamatovan\u00E9 v\u00FDzna\u010Dn\u00E9 body jsou pou\u017Eity pro korekci sm\u011Bru robotu a dometrick\u00E1 data ur\u010Duj\u00ED vzd\u00E1lenost robotu od po\u010D\u00E1tku cesty. Byl sestaven line\u00E1rn\u00ED model tohoto naviga\u010Dn\u00EDho syst\u00E9mu a byly zkoum\u00E1ny jeho vlastnosti. Vyslovili jsme v\u011Btu, tvrd\u00EDc\u00ED, \u017Ee pro omezenou chybu odometrie a %22rozumn\u00E9%22 trajektorie, korekce sm\u011Bru jsou dosta\u010Duj\u00EDc\u00ED pro udr\u017Een\u00ED robotu na zn\u00E1m\u00E9 cest\u011B. Formulovali jsme d\u016Fkaz platn\u00FD pro trajektorie tvaru pravideln\u00FDch mnoho\u00FAheln\u00EDk\u016F."@cs . . . "Prague" . "Jednoduch\u00FD vizu\u00E1ln\u00ED naviga\u010Dn\u00ED syst\u00E9m pro mobiln\u00ED robot"@cs . "000255550400029" . .