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Mobile robots and visual sensors


This survey provides an overview of the use of visual sensors in robots navigation. Vision is becoming more and more common in applications such as localization, automatic map construction, autonomous navigation, path following, inspection, monitoring or risky situation detection. Two major components of this paper are indoor navigation and outdoor navigation. Each component is subdivided in more specific subsections. For indoor navigation we discuss about navigation based on Map-Based approaches, on Map-Building approaches and on Mapless approaches. In the latter one are included navigation based on optical flow, on feature tracking and appearance-based methods. About outdoor navigation we deal with the navigation in structured and unstructured environments.