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Robust point tracking for visual navigation

This master thesis describes the developed software able to track points of interest in a video (image) sequence. Tracked points are used for two-view geometry reconstruction and visual servoing of the mobile robot. The purpose of the developed software is autonomous navigation of robot in outdoor environments. The whole process from the learning phase and the creation of visual memory to the navigation phase that uses the data from the visual memory is explained and described. The results show that the implemented software supports autonomous navigation and that it is robust and resistant to the small changes in environment that may occur after the mapping.