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  Homing by parameterized scene matching

Franz, M., Schölkopf, B., & Bülthoff, H. (1997). Homing by parameterized scene matching. In 4th European Conference on Artificial Life (ECAL97) (pp. 236-245). Cambridge, MA, USA: MIT Press.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-EA0E-8 Version Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-EA0F-6
Genre: Conference Paper

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 Creators:
Franz, MO1, Author              
Schölkopf, B1, Author              
Bülthoff, HH2, Author              
Husbands I. Harvey, P., Editor
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: In visual homing tasks, animals as well as robots can compute their movements from the current view and a snapshot taken at a home position. Solving this problem exactly would require knowledge about the distances to visible landmarks, information, which is not directly available to passive vision systems. We propose a homing scheme that dispenses with accurate distance information by using parameterized disparity fields. These are obtained from an approximation that incorporates prior knowledge about perspective distortions of the visual environment. A mathematical analysis proves that the approximation does not prevent the scheme from approaching the goal with arbitrary accuracy. Mobile robot experiments are used to demonstrate the practical feasibility of the approach.

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 Dates: 1997-07
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: ISBN: 0-262-58157-4
BibTex Citekey: 357
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Title: 4th European Conference on Artificial Life (ECAL97)
Place of Event: Brighton, UK
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Title: 4th European Conference on Artificial Life (ECAL97)
Source Genre: Proceedings
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Affiliations:
Publ. Info: Cambridge, MA, USA : MIT Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 236 - 245 Identifier: -