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Efficient visual homing based on Fourier transformed panoramic images

Stuerzl, Wolfgang; Mallot, H A

Description

We present a fast and efficient homing algorithm based on Fourier transformed panoramic images. By continuously comparing Fourier coefficients calculated from the current view with coefficients representing the goal location, a mobile robot is able to find its way back to known locations. No prior knowledge about the orientation with respect to the goal location is required, since the Fourier phase is used for a fast sub-pixel orientation estimation. We present homing runs performed by an...[Show more]

CollectionsANU Research Publications
Date published: 2006
Type: Journal article
URI: http://hdl.handle.net/1885/34399
Source: Robotics and Autonomous Systems
DOI: 10.1016/j.robot.2005.12.001

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