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Authors: Sotirios Ch. Diamantas 1 ; Anastasios Oikonomidis 2 and Richard M. Crowder 1

Affiliations: 1 School of Electronics and Computer Science University of Southampton, United Kingdom ; 2 School of Management and University of Southampton, United Kingdom

Keyword(s): Optical flow, Biologically inspired robot navigation, Robot homing, Visual navigation, Mobile robotics.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Image and Video Analysis ; Motion, Tracking and Stereo Vision ; Statistical Approach ; Visual Navigation ; Visually Guided Robotics

Abstract: In this paper a novel biologically inspired method is addressed for the robot homing problem where a robot returns to its home position after having explored an a priori unknown environment. The method exploits the optical flow patterns of the landmarks and based on a training data set a probability is inferred between the current snapshot and the snapshots stored in memory. Optical flow, which is not a property of landmarks like color, shape, and size but a property of the camera motion, is used for navigating a robot back to its home position. In addition, optical flow is the only information provided to the system while parameters like position and velocity of the robot are not known. Our method proves to be effective even when the snapshots of the landmarks have been taken from varying distances and velocities.

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Paper citation in several formats:
Ch. Diamantas, S.; Oikonomidis, A. and M. Crowder, R. (2011). BIOLOGICALLY INSPIRED ROBOT NAVIGATION BY EXPLOITING OPTICAL FLOW PATTERNS. In Proceedings of the International Conference on Computer Vision Theory and Applications - VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8; ISSN 2184-4321, pages 645-652. DOI: 10.5220/0003377706450652

@conference{visapp11,
author={Sotirios {Ch. Diamantas}. and Anastasios Oikonomidis. and Richard {M. Crowder}.},
title={BIOLOGICALLY INSPIRED ROBOT NAVIGATION BY EXPLOITING OPTICAL FLOW PATTERNS},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={645-652},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003377706450652},
isbn={978-989-8425-47-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications - VISAPP, (VISIGRAPP 2011)
TI - BIOLOGICALLY INSPIRED ROBOT NAVIGATION BY EXPLOITING OPTICAL FLOW PATTERNS
SN - 978-989-8425-47-8
IS - 2184-4321
AU - Ch. Diamantas, S.
AU - Oikonomidis, A.
AU - M. Crowder, R.
PY - 2011
SP - 645
EP - 652
DO - 10.5220/0003377706450652

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