This paper describes a view-based outdoor navigation method. In the method, a userfirsf guides a robot along a mute. During this guided movement, the robot learns a sequence of images and a rough geometry of the route. The mbot then moves autonomously along the mute with localizing itselJ based on the comparison behveen the leamed images and input images. Since appearances of objects in images may vary much according to changes of seasons and weather in outdoor scenes, a simple image comparison does nof work. We, therefore, pmpose a comparison method in which the robotjirst recognizes objects in images using object models which allow for appearance variations, and then compares recognition results of learned and input images. We also developed a method which automatically selects key images usedfor the comparison fmm an image sequence. Successfil autonomous navigation erperimenrs in our campus under U Q~~O U S conditions show thefeasibility offhe method.
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