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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Piljae Kim Szenher, M.D. Webb, B. |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Informatics, The University of Edinburgh, EH8 9AB, UK (Szenher, M.D.; Webb, B.) || Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 152-8552, Japan (Piljae Kim) |
| Abstract | Visual homing allows a robot to navigate towards a previously visited goal relying on visual input. In this study, the robot homes by optimising the difference surface produced from the mutual image information between a snapshot image taken at the goal and the current image. This study proposes a new homing method with automatic gain tuning inspired by entropy distance. We also present experimental results using omni-directional image sets, which demonstrate not only the feasibility of the proposed idea for visual homing but also adaptive and robust homing performance for both static and dynamic environments. |
| Starting Page | 3601 |
| Ending Page | 3606 |
| File Size | 4564657 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426928 |
| DOI | 10.1109/ICMA.2009.5246423 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robotics and automation Navigation Robots Entropy Image databases Mechatronics Control engineering Informatics Robustness Mutual information entropy distance visual homing difference surface mutual information automatic gain tuning |
| Content Type | Text |
| Resource Type | Article |
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