Toward domain-independent navigation: Dynamic vision and control

G. D. Hager, D. J. Kriegman, A. S. Georghiades, O. Ben-Shahar

Research output: Contribution to journalConference articlepeer-review

25 Scopus citations


This paper outlines a set of problems associated with constructing a robust, domain-independent vision-based navigation system suitable for both structured and unstructured environments. The system utilizes visual tracking to monitor a set of automatically selected image features (markers), and employs vision-based control to guide the motion of the robot from the image trajectory of a set of markers. An environment is represented as a graph which may be constructed either under human control (e.g. by giving the system a tour) or autonomously as the system explores. In this paper, we review the system architecture and present two image-based mobile robot controllers for following visually-defined trajectories.

Original languageEnglish (US)
Pages (from-to)3257-3262
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 1998
Externally publishedYes
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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