Abstract
A panoramic stereo sensor is presented which enables a Khepera robot to extract geometric landmark information (“disparity signatures”) of its surroundings. By comparing the current panoramic disparity signature to memorized signatures the robot is able to return to already visited places (“homing”). Evaluating a database of panoramic stereo images recorded by the robot we compare homing performance of the proposed disparity-based approach with a solely image-based method considering the size of catchment areas. Although the image-based technique yields larger catchment areas, disparity-based homing achieves a much higher degree of invariance with respect to illumination changes. To increase homing performance, we suggest an extended homing scheme integrating both landmark types.
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© 2002 Springer-Verlag Berlin Heidelberg
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Stürzl, W., Mallot, H.A. (2002). Vision-Based Homing with a Panoramic Stereo Sensor. In: Bülthoff, H.H., Wallraven, C., Lee, SW., Poggio, T.A. (eds) Biologically Motivated Computer Vision. BMCV 2002. Lecture Notes in Computer Science, vol 2525. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36181-2_62
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DOI: https://doi.org/10.1007/3-540-36181-2_62
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