Home > Papers from 2012 > Flow methods for view-based homing

Flow methods for view-based homing

One of the most interesting set of view based homing methods are the flow methods where one uses the derived flow vectors between the current view and a stored view to infer the movement needed to move between the current location and the target location where the goal view was stored. This paper from Stewart et al uses such a method to move between waypoints along a route.

Abstract: “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.”
Stewart, R. L., Mills, M., & Zhang, H. (2012, September). Visual homing for a mobile robot using direction votes from flow vectors. In Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on (pp. 413-418). IEEE.
Categories: Papers from 2012
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