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Telecommunications and Radio Engineering
SJR: 0.202 SNIP: 0.2 CiteScore™: 0.23

ISSN Print: 0040-2508
ISSN Online: 1943-6009

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Telecommunications and Radio Engineering

DOI: 10.1615/TelecomRadEng.v56.i6-7.70
8 pages

Modeling of an Active Camera for Selection and Tracking of Visual Landmarks in Mobile Robot Navigation

Victor Ayala-Ramirez
Universidad de Guanajuato FIMEE, Tampico 912, Colonia Bellavista, Salamanca, Guanajuato, 36730 MEXICO
Michel Devy
Yuriy V. Shkvarko
Visiting professor in the FIMEE, University of Guanajuato, Mexico
Rene Jaime-Rivas
Head of FIMEE at the University of Guanajuato, 36730 Salamanca, Gto. Mexico


We present some active visual functionalities for a landmark-based navigation system. This paper is focused on two functions: (1) the selection of the landmarks that must be tracked from a given robot situation, and (2) the active control of the camera modalities (zoom and pan parameters). Using a discretization of the configuration space, visibility and utility grids are dynamically built and updated during the path execution: a simple function exploits these grids to select the optimal parameters. Several experimental results demonstrate the validity of the approach.

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