In this work we present a reactive autonomous robot navigation system based only on omnidirectional vision. It does not rely on any prior knowledge about the environment apart from assuming a structured one, like indoor corridors or outdoor avenues. The…

This paper describes a novel approach for affine invariant region detection and description. At the detection stage, a hierarchical clustering mechanism is employed to group image pixels into regions. This process is based on the Bounded Irregular Pyramid (BIP) and…