This paper presents a visual based localization mechanism for a legged robot in indoor office environments. Our proposal is a probabilistic approach which uses partially observable Markov decision processes. We use a precompiled topological map where natural landmarks like doors or ceiling lights are recognized by the robot using its on-board camera. Experiments have been conducted using the AI...

This paper surveys the developments of the last 20 years in the area of vision for mobile robot navigation. Two major components of the paper deal with indoor navigation and outdoor navigation. For each component, we have further subdivided our treatment of the subject on the basis of structured and unstructured environments. For indoor robots in structured environments, we have dealt separatel...

This paper presents an algorithm for full 3D shape reconstruction of indoor and outdoor environments with mobile robots. Data is acquired with laser range finders installed on a mobile robot. Our approach combines efficient scan matching routines for robot pose estimation with an algorithm for approximating environments using flat surfaces. On top of that, our approach includes a mesh simplific...