02408nmm 2200000 a 4500 1925 INPRO--2008-022 eng Montijano, Eduardo Position-Based Navigation Using Multiple Homographies 2008-10-15 8 homography visual navigation motion estimation reactive navigation metric reconstruction. In 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. visual navigation scene reconstruction robot motion position-based navigation metric localization robot visionhomography position control path planning motion estimation mobile robots image reconstruction robotics Sagüés Blázquiz, Carlos 994-1001 Proceedings of 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) 2008 emonti@unizar.es http://dx.doi.org/10.1109/ETFA.2008.4638515 Acceso al editor http://roble.unizar.es:9090/login?url=http://zaguan.unizar.es/record/876/files/INPRO--2008-022.pdf Texto completo (Para personal UZ) oai:zaguan.unizar.es:1925 inpro driver public INPRO