MULTI-SCALE AND FULL-VIEW VISUAL NAVIGATION

A task oriented,multi scale and full view visual modeling strategy is proposed for the natural environment. It combines panoramic vision for scene modeling,omni directional vision for road understanding and binocular vision for obstacle detection into an integrated system. This approach overcomes the drawbacks of traditional visual navigation methods that mainly depended on local and/or single view visual information. In this paper integrated sensor design,data processing and fusion,and visual navigation strategy are closely explored.