1925 20190219081244.0 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. info:eu-repo/semantics/openAccess Esta 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. https://creativecommons.org/licenses/by-nc/4.0/ robotics image reconstruction mobile robots motion estimation path planning position control robot visionhomography metric localization position-based navigation robot motion scene reconstruction visual navigation Sagüés Blázquiz, Carlos 994-1001 Proceedings of 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) 2008 emonti@unizar.es 250167 http://zaguan.unizar.es/record/1925/files/login.pdf Texto completo (Para personal UZ) PREPRINT