Stürzl, Wolfgang; Mallot, H.A.: Efficient visual homing based on Fourier transformed panoramic images. In: Robotics and Autonomous Systems. Jg.54 H. 4. 2006, S. 300-313
Inhalt
- Image difference function
- The homing algorithm of ``Franz et al., 1998''
- Transformation to Fourier space
- Fourier phase-based correlation and orientation estimation
- Experiments with ``Koala'' robot
- Evaluation using image data sets
- Properties of the image sets
- Orientation estimation
- Home vector estimation
- Catchment areas of simulated homing runs
- Coarse-to-fine Fourier-based homing
- Extensions of the Fourier-based homing scheme and future work
- References