Tristan Mitchell and Frédéric Labrosse.
Visual homing: a purely appearance-based approach.
In Proceedings of Towards Autonomous Robotic Systems,
University of Essex, Colchester, UK, 2004.
This paper presents an algorithm that uses visual 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 parameters 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 translation and
rotation angle. Results, limitations and successes are presented