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  Homing by parameterized scene matching

Franz, M., Schölkopf, B., & Bülthoff, H.(1997). Homing by parameterized scene matching (46). Tübingen, Germany: Max Planck Institute for Biological Cybernetics.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-EA74-D Version Permalink: http://hdl.handle.net/21.11116/0000-0002-8E67-B
Genre: Report

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 Creators:
Franz, MO1, 2, Author              
Schölkopf, B1, 2, Author              
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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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: 1997-02
 Publication Status: Published in print
 Pages: -
 Publishing info: Tübingen, Germany : Max Planck Institute for Biological Cybernetics
 Table of Contents: -
 Rev. Type: -
 Identifiers: Report Nr.: 46
BibTex Citekey: 1511
 Degree: -

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Title: Technical Report of the Max Planck Institute for Biological Cybernetics
Source Genre: Series
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Pages: - Volume / Issue: 46 Sequence Number: - Start / End Page: - Identifier: -