title: A novel robot visual homing method based on SIFT features.
abstract: Warping is an effective visual homing method for robot local navigation. However, the performance of the warping method can be greatly influenced by the changes of the environment in a real scene, thus resulting in lower accuracy. In order to solve the above problem and to get higher homing precision, a novel robot visual homing algorithm is proposed by combining SIFT (scale-invariant feature transform) features with the warping method. The algorithm is novel in using SIFT features as landmarks instead of the pixels in the horizon region of the panoramic image. In addition, to further improve the matching accuracy of landmarks in the homing algorithm, a novel mismatching elimination algorithm, based on the distribution characteristics of landmarks in the catadioptric panoramic image, is proposed. Experiments on image databases and on a real scene confirm the effectiveness of the proposed method.
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. zhuqidan@hrbeu.edu.cn.
authors.forename: Qidan
authors.initials: Q
authors.lastname: Zhu
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. b211040007@sina.com.
authors.forename: Chuanjia
authors.initials: C
authors.lastname: Liu
authors.affiliation: College of Automation, Harbin Engineering University, Harbin 150001, China. caichengtao@hrbeu.edu.cn.
authors.forename: Chengtao
authors.initials: C
authors.lastname: Cai
keywords: catadioptric panoramic image; dynamic environment; mismatching elimination; robot navigation; visual homing