Summary: Autonomous Robots 19, 7­25, 2005
c 2005 Springer Science + Business Media, Inc. Manufactured in The Netherlands.
Robot Homing by Exploiting Panoramic Vision
ANTONIS A. ARGYROS
Institute of Computer Science (ICS), Foundation for Research and Technology - Hellas (FORTH),
Heraklion, Crete, Greece
argyros@ics.forth.gr
KOSTAS E. BEKRIS
Department of Computer Science, Rice University, Houston, Texas
bekris@cs.rice.edu
STELIOS C. ORPHANOUDAKIS
Institute of Computer Science (ICS), Foundation for Research and Technology - Hellas (FORTH),
Heraklion, Crete, Greece
orphanou@ics.forth.gr
LYDIA E. KAVRAKI
Department of Computer Science, Rice University, Houston, Texas
kavraki@cs.rice.edu
Abstract. We propose a novel, vision-based method for robot homing, the problem of computing a route so
that a robot can return to its initial "home" position after the execution of an arbitrary "prior" path. The method
assumes that the robot tracks visual features in panoramic views of the environment that it acquires as it moves. By

Source: Argyros, Antonis - Foundation of Research and Technology, Hellas & Department of Computer Science, University of Crete
Trahanias, Panos - Institute of Computer Science, Foundation of Research and Technology, Hellas

Collections: Computer Technologies and Information Sciences