Local visual homing by warping of two-dimensional images

Authors:
Ralf Möller
Affiliations:
Computer Engineering, Faculty of Technology, Bielefeld University, 33954 Bielefeld, Germany
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

Local visual homing methods can be used in the context of topological maps to travel between neighboring locations. These methods take two images as input and produce a home vector that points from the vantage point of one image to that of the other. ''Warping'' [M.O. Franz, B. Scholkopf, H.A. Mallot, H.H. Bulthoff, Where did I take that snapshot? Scene-based homing by image matching, Biological Cybernetics 79 (3) (1998) 191-202] is an attractive homing method since it does not require an external compass. Here we describe how the performance of warping can be substantially improved by extending the method from one- to two-dimensional images, with only a moderate increase in the computational effort. Experiments on several image databases confirm the improved performance.