Brief description

We study what navigational capabilities a robot may exhibit by exploiting primitive (but robust) visual information related to the bearing angles of landmarks in its visual field. Preliminary work on this subject started with the study of the robot homing problem but has recently been extended to more general robot navigation behaviors. You may find interesting to visit the related page of Kostas Bekris and Lydia Kavraki at Rice University, USA.

Sample results

Download video with experiments with angle-based navigation in various interesting cases (collinear landmarks, dynamic environment, robot kidnapping, natural landmarks, etc). The perceptual support of angle-based navigation is provided by our home-built multiple targets tracking algorithm.


Kostas Bekris, Antonis Argyros, Lydia Kavraki.

Relevant publications

  • K. E. Bekris, A.A. Argyros, L. E. Kavraki, “Exploiting Panoramic Vision for Bearing-only Robot Homing”, book chapter in Imaging Beyond the Pinhole Camera, 12th Seminar on Theoretical Foundations of Computer Vision. Daniilidis, K., Klette, R. and Leonardis, A. eds. Kluwer Academic Publishers, 2006, in press.
  • A.A. Argyros, C. Bekris, S.C. Orphanoudakis, L.E. Kavraki, “Robot Homing by Exploiting Panoramic Vision”, Journal of Autonomous Robots, vol. 19, no. 1, pp. 7-25, July 2005.
  • K. E. Bekris, A.A. Argyros, L. E. Kavraki, “Angle-Based Methods for Mobile Robot Navigation: Reaching the Entire Plane”, in proceedings of the International Conference on Robotics and Automation (ICRA‘04), pp. 2373-2378, New Orleans, USA, April 26 - May 1st, 2004.
  • A.A. Argyros, C. Bekris, S. Orphanoudakis, “Robot Homing based on Corner Tracking in a Sequence of Panoramic Images”, in proceedings of the Computer Vision and Pattern Recognition Conference (CVPR‘01), pp. 3-10, Hawaii, USA, December 11-14, 2001.

The electronic versions of the above publications can be downloaded from my publications page.