Vision is an important sensor used for mobile robot navigation.One approach to localization which is based on vision is to computecamera egomotion with respect to base images. What characterizes thismethod of localization is that its performance varies greatly indifferent positions. Active navigation is an approach to path andsensing planning which is designed to address varying performance of asensor across the configuration space. We describe how to integrate avision-based localization sensor with active navigation. We explain thelocalization process, how its performance varies across theconfiguration space, and the use of this variation by active navigation
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