Exploring spherical image properties for robot navigation

Addresses the problem of performing navigation with a mobile robot using active vision exploring the image sphere properties in a stereo divergent configuration. The navigational process is supported by the control of the robot´s steering and forward movements just using visual information as feedback. The steering control solution is based on the difference between signals of visual motion flow computed in images on different positions of a virtual image sphere. The majority of solutions based on motion flow and proposed until now, were usually very unstable because they normally compute other parameters from the motion flow. In our case the control is based directly on the different between motion flow signals on different images. Those multiple images are obtained by small mirrors, that simulate cameras positioned in different positions on the image sphere. The control algorithm described in this work is based on a discrete-event approach to generate a control feedback signal for navigation of an autonomous robot with an active vision system