An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots

<figure class="figure-group responsive"><div class="sub-figure" id="a"><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/2605837/figures/2605837.fig.0015a.svgz" name="2605837.fig.0015a" type="image/svg+xml"></object><div class="fig-label">(a) Ideal Map</div></div><div class="sub-figure" id="b"><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/2605837/figures/2605837.fig.0015b.svgz" name="2605837.fig.0015b" type="image/svg+xml"></object><div class="fig-label">(b) Our method</div></div><div class="sub-figure" id="c"><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/2605837/figures/2605837.fig.0015c.svgz" name="2605837.fig.0015c" type="image/svg+xml"></object><div class="fig-label">(c) Thrun’s method</div></div></figure>

Mathematical Problems in Engineering

fig15

Figure 15

Figure 15: An OGM-Based Visual Navigation System with Reduced Homographies and Accurate Computations for Mobile Robots 