E�cient Local Navigation Using 1D Image Representations

Christopher Burbridge, Joan Condell, Ulrich Nehmzow

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


In this paper a new, e�cient approach to accurate image-basedhoming is proposed for indoor robots that makes use of the ceiling plane.A gradient orientation histogram is built to calculate the rotation ofthe robot between a target location `snapshot' and the current imageperception, and e�cient 1D average row and column images are constructedto nd the vector pointing to the home location. Our algorithmis ideally suited for use on low-powered, cheap robots where sensing andcomputational power are limited.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIOS Press
Number of pages11
Publication statusPublished (in print/issue) - 1 Sept 2010
EventIAS 11 - Intelligent Autonomous Systems 11 - Ottawa, Canada
Duration: 1 Sept 2010 → …


ConferenceIAS 11 - Intelligent Autonomous Systems 11
Period1/09/10 → …


Dive into the research topics of 'E�cient Local Navigation Using 1D Image Representations'. Together they form a unique fingerprint.

Cite this