NDLI: Homing in scale space

Content Provider	IEEE Xplore Digital Library
Author	Churchill, D. Vardy, A.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci., Memorial Univ. of Newfoundland, St. John's, NL (Churchill, D.; Vardy, A.)
Abstract	Local visual homing is the process of determining the direction of movement required to return an agent to a goal location by comparing the current image with an image taken at the goal, known as the snapshot image. One way of accomplishing visual homing is by computing the correspondences between features and then analyzing the resulting flow field to determine the correct direction of motion. Typically, some strong assumptions need to be posited in order to compute the home direction from the flow field. For example, it is difficult to locally distinguish translation from rotation, so many authors assume rotation to be computable by other means (e.g. magnetic compass). In this paper we present a novel approach to visual homing using scale change information from Scale Invariant Feature Transforms (SIFT) which we use to compute landmark correspondences. The method described here is able to determine the direction of the goal in the robotpsilas frame of reference, irrespective of the relative 3D orientation with the goal.
Starting Page	1307
Ending Page	1312
File Size	257378
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651166
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Databases Distance measurement Feature extraction Pixel Visualization Transforms
Content Type	Text
Resource Type	Article

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