Visual homing: a purely appearance-based approach
Tristan Mitchell, Frédéric Labrosse · 2006
This paper presents an algorithm that uses vi-sual input to perform homing for an autonomous mobile robot. An image captured at the target pose (position and orientation) is compared with the currently viewed image to determine the pa-rameters of the next move of the robot toward the target (rotation and translation). The visual data is captured using an omnidirectional camera and images are compared using the Manhattan distance function to determine both the transla-tion and rotation angle. Results, limitations and successes are presented and discussed. 1