An Insect-Inspired Active Vision Approach for Orientation Estimation with Panoramic Images

Authors:
Wolfgang Stürzl;Ralf Möller
Affiliations:
Robotics and Embedded Systems, Technical University of Munich, Germany;Computer Engineering, Faculty of Technology, Bielefeld University, Germany
Venue:
IWINAC '07 Proceedings of the 2nd international work-conference on The Interplay Between Natural and Artificial Computation, Part I: Bio-inspired Modeling of Cognitive Tasks
Year:
2007

Citing 3
Cited 1

Catadioptric Omnidirectional Camera

CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Radon-Based Structure from Motion without Correspondences

CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Local visual homing by matched-filter descent in image distances

Biological Cybernetics

Three 2D-warping schemes for visual robot navigation

Autonomous Robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

We present an insect-inspired approach to orientation estimation for panoramic images. It has been shown by Zeil et al. (2003) that relative rotation can be estimated from global image differences, which could be used by insects and robots as a visual compass [1]. However the performance decreases gradually with the distance of the recording positions of the images. We show that an active vision approach based on local translational movements can significantly improve the orientation estimation. Tests were performed with a mobile robot equipped with a panoramic imaging system in a large entrance hall. Our approach is minimalistic insofar as it is solely based on image differences.