TY - GEN
T1 - Landmark navigation using sector-based image matching
AU - Lee, Jiwon
AU - Kim, Dae Eun
PY - 2011
Y1 - 2011
N2 - Many insects return home by using their environmental landmarks. They remember the image at their nest and find the homeward direction, comparing it with the current image. There have been robotic researches to model the landmark navigation, focusing on how the image matching process can lead an agent to return to the nest, starting from an arbitrary spot. According to Franz's navigation algorithm, an agent estimates the changes of image for its own movement, and evaluates which directional movement can produce the image pattern most similar to the snapshot taken at the nest. Then it finally chooses the best image-matching direction. Based on the idea, we suggest a new navigation approach where the image is divided into several sectors and then the sector-based image matching is applied. It checks the occupancy and the distance variation for each sector. As a result, it shows better performance than Franz's algorithm.
AB - Many insects return home by using their environmental landmarks. They remember the image at their nest and find the homeward direction, comparing it with the current image. There have been robotic researches to model the landmark navigation, focusing on how the image matching process can lead an agent to return to the nest, starting from an arbitrary spot. According to Franz's navigation algorithm, an agent estimates the changes of image for its own movement, and evaluates which directional movement can produce the image pattern most similar to the snapshot taken at the nest. Then it finally chooses the best image-matching direction. Based on the idea, we suggest a new navigation approach where the image is divided into several sectors and then the sector-based image matching is applied. It checks the occupancy and the distance variation for each sector. As a result, it shows better performance than Franz's algorithm.
UR - http://www.scopus.com/inward/record.url?scp=79960012708&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79960012708&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-21314-4_54
DO - 10.1007/978-3-642-21314-4_54
M3 - Conference contribution
AN - SCOPUS:79960012708
SN - 9783642213137
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 432
EP - 439
BT - Advances in Artificial Life
T2 - 10th European Conference of Artificial Life, ECAL 2009
Y2 - 13 September 2009 through 16 September 2009
ER -