For this experimentation the robot did three trajectories in the environment. The two first are straight and the third is oval. In these videos, at the top-left, you have an overview of the environment in order to see the evolution of the robot in this one. On the top-right, the omnidirectional view from the robot. Underneath, the panoramic view correspondent to the cylindrical projection of the picture. And finally, at the bottom of the picture, the base of synthetic pictures is represented by a grid in hard grey and evaluations of successive position by the tracing of a polygon supposed to represent the mobile robot. I recall to reader that every evaluation of position is absolute and is only gotten with the help of omnidirectional picture acquired from the robot and the matching of this one with the base of panoramic synthetic pictures.

On following videos you will be able to see a 2D projection of the final evaluation of the mobile robot configuration in its environment. The supposed trajectory is materialized by a gray line or curve. Successive absolute localizations are materialized by the tracing of a polygon supposed to represent the mobile robot. I recall to reader that every evaluation of position is absolute and is only gotten with the help of omnidirectional picture acquired from the robot and the matching of this one with the base of panoramic synthetic pictures.