Image-Based Robot Navigation in Unknown Indoor Environments

Ehud Rivlin, Ilan Shimshoni, Evgeny Smolyar

Research output: Contribution to conferencePaperpeer-review


This paper presents a method for image based robot navigation under the full perspective model. The robot navigates through unknown indoor environments. A target image is taken from an unconstrained position in the environment and given to the robot. The robot starts at an arbitrary position and navigates to the position at which the target image was taken. The approach is based on using images of the environment taken by the robot at different positions along the path and comparing them with a target image. No extraction of 3D models of the scene is needed. The robot finds automatically an image which shows part of the environment shown in the target image. It then moves on the floor, takes pictures with its camera, finds corresponding features in the current and target image, and uses them to extract the motion parameters to the target location. All these steps are performed automatically. This paper describes experimental results performed with a Nomad XR4000 mobile robot. These experiments show the feasibility and the significant benefits of our approach.

Original languageEnglish
Number of pages7
StatePublished - 2003
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 27 Oct 200331 Oct 2003


Conference2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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