000001925 001__ 1925 000001925 005__ 20190219081244.0 000001925 037__ $$aINPRO--2008-022 000001925 041__ $$aeng 000001925 100__ $$aMontijano, Eduardo 000001925 245__ $$aPosition-Based Navigation Using Multiple Homographies 000001925 260__ $$c2008-10-15 000001925 300__ $$a8 000001925 500__ $$ahomography visual navigation motion estimation reactive navigation metric reconstruction. 000001925 520__ $$aIn this paper we address the problem of visual navigation of a mobile robot which simultaneously obtains metric localization and scene reconstruction using homographies. Initially, the robot is guided by a human and some scenes during the trip are stored from known reference locations. The interest of this paper consist in the possibility of getting real and precise data of the robot motion and the scene, which presents some advantages over other existing approaches. For example, it allows the robot to carry out other trajectories than the executed during the teaching phase. We show an extensive analysis of the output in presence of errors in some of the inputs. 000001925 540__ $$9info:eu-repo/semantics/openAccess$$aEsta obra está sujeta a una licencia de uso Creative Commons. Se permite la reproducción total o parcial, la distribución, la comunicación pública de la obra y la creación de obras derivadas, siempre que no sea con finalidades comerciales, y sempre que se reconzca la autoria de la obra original.$$uhttps://creativecommons.org/licenses/by-nc/4.0/ 000001925 6531_ $$arobotics$$aimage reconstruction$$amobile robots$$amotion estimation$$apath planning$$aposition control$$arobot visionhomography$$ametric localization$$aposition-based navigation$$arobot motion$$ascene reconstruction$$avisual navigation 000001925 700__ $$aSagüés Blázquiz, Carlos 000001925 773__ $$c994-1001$$pProceedings of 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)$$y2008 000001925 8560_ $$femonti@unizar.es 000001925 8564_ $$s250167$$uhttps://zaguan.unizar.es/record/1925/files/login.pdf$$zTexto completo (Para personal UZ) 000001925 980__ $$aPREPRINT