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Full-Text Articles in Computer Engineering
Evaluation Of Field Of View Width In Stereo-Vision-Based Visual Homing, Damian Lyons, Benjamin Barriage, Luca Del Signore
Evaluation Of Field Of View Width In Stereo-Vision-Based Visual Homing, Damian Lyons, Benjamin Barriage, Luca Del Signore
Faculty Publications
Visual homing is a local navigation technique used to direct a robot to a previously seen location by comparing the image of the original location with the current visual image. Prior work has shown that exploiting depth cues such as image scale or stereo-depth in homing leads to improved homing performance. While it is not unusual to use a panoramic field of view (FOV) camera in visual homing, it is unusual to have a panoramic FOV stereo-camera. So, while the availability of stereo-depth information may improve performance, the concomitant-restricted FOV may be a detriment to performance, unless specialized stereo hardware …
An Approach To Robust Homing With Stereovision, Fuqiang Fu, Damian Lyons
An Approach To Robust Homing With Stereovision, Fuqiang Fu, Damian Lyons
Faculty Publications
Visual Homing is a bioinspired approach to robot navigation which can be fast and uses few assumptions. However, visual homing in a cluttered and unstructured outdoor environment offers several challenges to homing methods that have been developed for primarily indoor environments. One issue is that any current image during homing may be tilted with respect to the home image. The second is that moving through a cluttered scene during homing may cause obstacles to interfere between the home scene and location and the current scene and location. In this paper, we introduce a robust method to improve a previous developed …
Visual Homing With A Pan-Tilt Based Stereo Camera, Paramesh Nirmal, Damian M. Lyons
Visual Homing With A Pan-Tilt Based Stereo Camera, Paramesh Nirmal, Damian M. Lyons
Faculty Publications
Visual homing is a navigation method based on comparing a stored image of the goal location and the current image (current view) to determine how to navigate to the goal location. It is theorized that insects, such as ants and bees, employ visual homing methods to return to their nest [1]. Visual homing has been applied to autonomous robot platforms using two main approaches: holistic and feature-based. Both methods aim at determining distance and direction to the goal location. Navigational algorithms using Scale Invariant Feature Transforms (SIFT) have gained great popularity in the recent years due to the robustness of …