{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,28]],"date-time":"2025-11-28T17:13:11Z","timestamp":1764349991540,"version":"3.38.0"},"reference-count":31,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2009,3,1]],"date-time":"2009-03-01T00:00:00Z","timestamp":1235865600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,3]]},"abstract":"<jats:p> In this paper we present a navigation algorithm that enables mobile robots to retrace routes previously taught under the control of human operators in outdoor environments. Possible applications include robot couriers, autonomous vehicles, tour guides and robotic patrols. The appearance-based approach presented in the paper is provably convergent, computationally inexpensive compared with map-based approaches and requires only odometry and a monocular omnidirectional vision sensor. A sequence of reference images is recorded during the human-guided route-teaching phase. Before starting the autonomous phase, the robot needs to be positioned at the beginning of the route. During the autonomous phase, the measurement image is compared with reference images using image cross-correlation performed in the Fourier domain to recover the difference in relative orientation. Route following is achieved by compensating for this orientation difference. Over 18 km of experiments performed under varying conditions demonstrate the algorithm's robustness to lighting variations and partial occlusion. Obstacle avoidance is not included in the current system. <\/jats:p>","DOI":"10.1177\/0278364908098412","type":"journal-article","created":{"date-parts":[[2009,2,12]],"date-time":"2009-02-12T22:19:11Z","timestamp":1234477151000},"page":"331-356","source":"Crossref","is-referenced-by-count":66,"title":["Robust Appearance Based Visual Route Following for Navigation in Large-scale Outdoor Environments"],"prefix":"10.1177","volume":"28","author":[{"given":"Alan M.","family":"Zhang","sequence":"first","affiliation":[{"name":"Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3800, Australia,"}]},{"given":"Lindsay","family":"Kleeman","sequence":"additional","affiliation":[{"name":"Intelligent Robotics Research Centre, Department of Electrical and Computer Systems Engineering, Monash University, Clayton, Victoria 3800, Australia,"}]}],"member":"179","published-online":{"date-parts":[[2009,3,1]]},"reference":[{"volume-title":"Proceedings of the 14th International Conference on Pattern Recognition","author":"Aihara, N.","key":"atypb1"},{"volume-title":"Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition","author":"Argyros, A.","key":"atypb2"},{"volume-title":"Proceedings of the 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS'05)","author":"Artac, M.","key":"atypb3"},{"volume-title":"Proceedings IEEE International Conference on Robotics and Automation","author":"Booij, O.","key":"atypb4"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/OMNVIS.2000.853815"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.1992.0107"},{"key":"atypb7","first-page":"1403","volume":"2","author":"Davison, A.J.","year":"2003","journal-title":"Nice, France"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1613\/jair.616"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050470"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Goedeme, T.","key":"atypb10"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Herath, D.C.","key":"atypb11"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(03)00064-2"},{"volume-title":"Proceedings of the 1997 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Jones, S.D.","key":"atypb13"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1038\/33681"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20159"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.05.004"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008983511443"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2006.150"},{"volume-title":"Proceedings of the 1999 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Matsumoto, Y.","key":"atypb19"},{"volume-title":"Proceedings of the 1996 IEEE International Conference on Robotics and Automation","author":"Matsumoto, Y.","key":"atypb20"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.895217"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.014"},{"volume-title":"Proceedings of the 8th International Conference on Computer Analysis of Images and Patterns","author":"Pajdla, T.","key":"atypb23"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, (IROS'05)","author":"Royer, E.","key":"atypb24"},{"volume-title":"Proceedings of the 2007 IEEE Conference on Computer Vision and Pattern Recognition","author":"Segvic, S.","key":"atypb25"},{"volume-title":"Proceedings of the British Machine Vision Conference","author":"Smith, P.","key":"atypb26"},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1038\/33555"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.12.001"},{"volume-title":"Proceedings of the 6th European Conference on Computer Vision","author":"Svoboda, T.","key":"atypb29"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Tang, L.","key":"atypb30"},{"volume-title":"Proceedings of the 7th European Conference on Artificial Life","author":"Vardy, A.","key":"atypb31"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908098412","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908098412","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T04:02:04Z","timestamp":1741060924000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364908098412"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3]]},"references-count":31,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,3]]}},"alternative-id":["10.1177\/0278364908098412"],"URL":"https:\/\/doi.org\/10.1177\/0278364908098412","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2009,3]]}}}