0. Contents:

readme       ...   this file
CVPR07.MOV   ...   the video illustrating the performed experiments
                   and the obtained results
                   
1. A comment on the video:

The video is in the Quicktime/MOV file format, 
with FFmpeg H.264 codec.
On my system, the video starts with ~20 seconds
blank screen which can not be fast-forwarded over.
Please be patient!

In the last part of the video
(after the appearance of the text "Robot View"),
we illustrate the autonomous navigation by visual servoing.
As shown in the video, the currently tracked features
are designated with yellow crosses, 
while their desired locations are denoted with green crosses.

Note that for most points, the current positions 
never reach the desired ones. 
This is because during navigation 
the camera was tilted up for ~5 degrees
with respect to the position taken during mapping.
This does not effect visual servoing since 
the employed control law, eq. (2) in the paper,
disregards y coordinates of the tracked features.

