Robust visual homing with landmark angles

John Lim, Nick Barnes

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


    This paper presents a novel approach to visual homing for robot navigation on the ground plane, using only the angles of landmark points. We focus on a robust approach, leading to successful homing even in real, dynamic environments where significant numbers of landmark points are wrong or missing. Three homing algorithms are presented, two are shown to be provably convergent, and the other shown to converge empirically. Results from simulations under noise and robot homing in real environments are provided.

    Original languageEnglish
    Title of host publicationRobotics
    Subtitle of host publicationScience and Systems V
    EditorsJeff Trinkle, Yoky Matsuoka, Jose A. Castellanos
    PublisherMIT Press Journals
    Number of pages8
    ISBN (Print)9780262514637
    Publication statusPublished - 2010
    EventInternational Conference on Robotics Science and Systems, RSS 2009 - Seattle, United States
    Duration: 28 Jun 20091 Jul 2009

    Publication series

    NameRobotics: Science and Systems
    ISSN (Electronic)2330-765X


    ConferenceInternational Conference on Robotics Science and Systems, RSS 2009
    Country/TerritoryUnited States


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