A localisation method with an omnidirectional vision sensor using projective invariant

We first present a short description of our conic sensor. Furthermore, we pay special attention to the projective invariant, represented by the cross-ratio. We end the paper by presenting a new 1D cross-ratio application that enables us to localise our mobile robot SARAH efficiently. With the method that we propose using, the camera does not need to be calibrated and this vision system, based on an omnidirectional sensor, is a major advantage for the navigation of an autonomous mobile robot