View sequence generation for view-based outdoor navigation

This paper describes a method of generating a new view sequence for view-based outdoor navigation. View-based navigation approaches have been shown to be effective but have a drawback that a view sequence for the route to be navigated is needed beforehand. This will be an issue especially for navigation in an open space where numerous potential routes exist; it is almost impossible to take view sequences for all of the routes by actually moving on them. We therefore develop a method of generating a view sequence for arbitrary routes from an omnidirectional view sequence taken at a limited movement. The method is based on visual odometry-based map generation and an image-to-image morphing using homography. The effectiveness of the method is validated by view-based localization experiments.