Home > Papers from 2011 > ALV homing with complex scenes

ALV homing with complex scenes

Of all the broad family of snaphot-style models of local visual homing, the Average Landmark Vector was always a personal favourite because of its elegant simplicity. The basic procedure is that a panoramic scene can be collapsed to a simple vector which represents the average of unit vectors pointed at all landmarks in the scene. Homing occurs through a comparison of current ALV and an ALV stored at a goal location. Since the initial demonstration of the ALV, various researchers have tried to transfer the elegance of the model to natural complex scenes. Ramisa et al present new research in this direction. For their implementation they use invariant features such as finding local extrema following a difference of gaussians filtering or MSER (Maximally Stable Extremal Regions). In a series of tests both techniques work well and are stable across changes in illumination.

Arnau Ramisa Alex Goldhoorn David Aldavert Ricardo Toledo and Ramon Lopez de Mantaras “Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas” J Intell Robot Syst (2011) 64:625–649

Categories: Papers from 2011
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