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Omni-directional Image Matching for Homing Navigation Based on Optical Flow Algorithm
Youngseo Cha,DaeEun Kim 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
It is known that many insects use optical flow as means of homing navigation. Even though insects have a relatively small number of neurons to estimate spatial information, compared with mammals, insects can maintain high performance of homing navigation to return home. This implies that a navigation model of insect vision using optical flow has high efficiency. There have been suggested many models of optical flow as how to explain accuracy of homing navigation of insects. In this paper, we introduce simple image matching based on optical flowto estimate the movement of agents for homing navigation. The optical flow made from Kanade-Lucas-Tomashi(KLT) algorithm has pattern regularity for agent movements. Hence, the agent can guess its own locomotion pattern, estimate distance from homimg direction, navigate through a distribution of patterns.
차영서(Youngseo Cha),김대은(DaeEun Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.2
There have been many homing navigation algorithms for robotic system. In this paper, we suggest a bio-inspired navigation model. It builds path integration based on optical flow. We consider two factors on robot movements, translational movement and rotational movement. For each movement, we found distinguishable optical flows. Based on optical flow, we estimate ego-centric robot movement and integrate the path optimally. We can determine the homing direction and distance. We test this algorithm and evaluate the performance of homing navigation for robotic system.