Biologically plausible visual homing methods based on optical flow techniques

Vardy A, Möller R (2005)
Connection Science 17(1-2): 47-89.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Autor*in
Vardy, Andrew; Möller, RalfUniBi
Abstract / Bemerkung
Insects are able to return to important places in their environment by storing an image of the surroundings while at the goal, and later computing a home direction from a matching between this 'snapshot' image and the currently perceived image. Very similar ideas are pursued for the visual navigation of mobile robots. A wide range of different solutions for the matching between the two images have been suggested. This paper explores the application of optical flow techniques for visual homing. The performance of five different flow techniques and a reference method is analysed based on image collections from three different indoor environments. We show that block matching, two simple variants of block matching and two even simpler differential techniques produce robust homing behaviour, despite the simplicity of the matched features. Our analysis reveals that visual homing can succeed even in the presence of many incorrect feature correspondences, and that low-frequency features are sufficient for homing. In particular, the successful application of differential methods opens new vistas on the visual homing problem, both as plausible and parsimonious models of visual insect navigation, and as a starting point for novel robot navigation methods.
Stichworte
robotics; optical flow; biological plausibility; navigation
Erscheinungsjahr
2005
Zeitschriftentitel
Connection Science
Band
17
Ausgabe
1-2
Seite(n)
47-89
ISSN
0954-0091
eISSN
1360-0494
Page URI
https://pub.uni-bielefeld.de/record/1937114

Zitieren

Vardy A, Möller R. Biologically plausible visual homing methods based on optical flow techniques. Connection Science. 2005;17(1-2):47-89.
Vardy, A., & Möller, R. (2005). Biologically plausible visual homing methods based on optical flow techniques. Connection Science, 17(1-2), 47-89. https://doi.org/10.1080/09540090500140958
Vardy, A., and Möller, R. (2005). Biologically plausible visual homing methods based on optical flow techniques. Connection Science 17, 47-89.
Vardy, A., & Möller, R., 2005. Biologically plausible visual homing methods based on optical flow techniques. Connection Science, 17(1-2), p 47-89.
A. Vardy and R. Möller, “Biologically plausible visual homing methods based on optical flow techniques”, Connection Science, vol. 17, 2005, pp. 47-89.
Vardy, A., Möller, R.: Biologically plausible visual homing methods based on optical flow techniques. Connection Science. 17, 47-89 (2005).
Vardy, Andrew, and Möller, Ralf. “Biologically plausible visual homing methods based on optical flow techniques”. Connection Science 17.1-2 (2005): 47-89.

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