
Proceedings Paper
Visual homing with a pan-tilt based stereo cameraFormat | Member Price | Non-Member Price |
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Paper Abstract
Visual homing is a navigation method based on comparing a stored image of the goal location and the current image
(current view) to determine how to navigate to the goal location. It is theorized that insects, such as ants and bees,
employ visual homing methods to return to their nest. Visual homing has been applied to autonomous robot platforms
using two main approaches: holistic and feature-based. Both methods aim at determining distance and direction to the
goal location. Navigational algorithms using Scale Invariant Feature Transforms (SIFT) have gained great popularity in
the recent years due to the robustness of the feature operator. Churchill and Vardy have developed a visual homing
method using scale change information (Homing in Scale Space, HiSS) from SIFT.
HiSS uses SIFT feature scale change information to determine distance between the robot and the goal location. Since
the scale component is discrete with a small range of values, the result is a rough measurement with limited accuracy.
We have developed a method that uses stereo data, resulting in better homing performance. Our approach utilizes a pan-tilt
based stereo camera, which is used to build composite wide-field images. We use the wide-field images combined
with stereo-data obtained from the stereo camera to extend the keypoint vector described in to include a new
parameter, depth (z). Using this info, our algorithm determines the distance and orientation from the robot to the goal
location.
We compare our method with HiSS in a set of indoor trials using a Pioneer 3-AT robot equipped with a BumbleBee2
stereo camera. We evaluate the performance of both methods using a set of performance measures described in this
paper.
Paper Details
Date Published: 4 February 2013
PDF: 9 pages
Proc. SPIE 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, 866204 (4 February 2013); doi: 10.1117/12.2004995
Published in SPIE Proceedings Vol. 8662:
Intelligent Robots and Computer Vision XXX: Algorithms and Techniques
Juha Röning; David Casasent, Editor(s)
PDF: 9 pages
Proc. SPIE 8662, Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, 866204 (4 February 2013); doi: 10.1117/12.2004995
Show Author Affiliations
Paramesh Nirmal, Fordham Univ. (United States)
Damian M. Lyons, Fordham Univ. (United States)
Published in SPIE Proceedings Vol. 8662:
Intelligent Robots and Computer Vision XXX: Algorithms and Techniques
Juha Röning; David Casasent, Editor(s)
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