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.
|Title of host publication||Unknown Host Publication|
|Number of pages||11|
|Publication status||Published - 1 Sep 2010|
|Event||IAS 11 - Intelligent Autonomous Systems 11 - Ottawa, Canada|
Duration: 1 Sep 2010 → …
|Conference||IAS 11 - Intelligent Autonomous Systems 11|
|Period||1/09/10 → …|