Feature Based Potential Field for Low-Level Active Visual Navigation

Rodrigues, RT; Basiri, M; Aguiar, AP; Miraldo, P

ROBOT 2017: Third Iberian Robotics Conference – Volume 1, Seville, Spain, November 22-24, 2017

ID Authenticus: P-00N-82E

DOI: 10.1007/978-3-319-70833-1_64

Abstract (EN): This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the current image frame with an attractive or neutral potential energy. The resultant action drives the vehicle towards the goal, while still favouring feature rich areas. Experimental results with a mini quadrotor equipped with a downward looking camera assess the performance of the proposed method.