Visual homing for a mobile robot using direction votes from flow vectors

This paper investigates the problem of robot visual homing - the navigation to a goal location by a mobile robot using visual sensory input. The visual homing approach taken is to consider the flow vectors between a robot's current view and a desired milestone view. The flow vectors can be used...

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Bibliographic Details
Published in2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems pp. 413 - 418
Main Authors Stewart, R. L., Mills, M., Hong Zhang
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.09.2012
Subjects
Cameras
Education
Mutual information
Navigation
Robots
Vectors
Visualization
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ISBN1467325104
9781467325103
DOI10.1109/MFI.2012.6343078

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Summary:This paper investigates the problem of robot visual homing - the navigation to a goal location by a mobile robot using visual sensory input. The visual homing approach taken is to consider the flow vectors between a robot's current view and a desired milestone view. The flow vectors can be used to determine an angular velocity command that attempts to align the two views under a constant forward speed. Experiments with a mobile robot have been conducted following the teach-replay approach. By using a sequence of milestone images taken successively along a path, preliminary results show that a robot can successfully repeat the path and navigate to its goal autonomously. The method should be useful for route following and other applications involving visual navigation.
ISBN:1467325104
9781467325103
DOI:10.1109/MFI.2012.6343078