Homing by parameterized scene matching

Franz, MO; Schölkopf, B; Bülthoff, HH

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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

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Creators:
Franz, MO^{1, 2}, Author
Schölkopf, B^{1, 2}, Author
Bülthoff, HH^{1, 2}, Author

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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: Published in Print: 1997-02

Publication Status: Published in print

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Publishing info: Tübingen, Germany : Max Planck Institute for Biological Cybernetics

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Identifiers: Report Nr.: 46
BibTex Citekey: 1511

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Title: Technical Report of the Max Planck Institute for Biological Cybernetics

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Pages: - Volume / Issue: 46 Sequence Number: - Start / End Page: - Identifier: -