Visual Homing Navigation with Haar-Like Features in the Snapshot

Changmin Lee, Daeeun Kim

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)


Visual homing navigation has been a challenging issue in indoor localization and navigation. Inspired by insect navigation, the snapshot model was introduced for homing navigation, where a pair of snapshots at the current location and at the nest are compared to guide the homing direction. We investigate Haar-like features in vision to extract visual cues, based on the snapshot model. The Haar-like features consist of masks randomly generated over the snapshot image at the home location, and later, their matching scores at the snapshot available at the current location are calculated for the correspondence measure. We draw landmark vectors using the correspondence measure of Haar-like features at their angular positions. Interestingly, a collection of Haar-like features provide visual characteristics to reflect a pair of snapshot images, which can determine the homing direction. In this paper, we propose two types of homing methods based on the image difference using Haar-like features, the Haar-like landmark vector model and the Haar-like image distance model. We demonstrate the effectiveness of the methods in several environments.

Original languageEnglish
Pages (from-to)33666-33681
Number of pages16
JournalIEEE Access
Publication statusPublished - 2018 Jun 21

Bibliographical note

Funding Information:
This work was supported by the National Research Foundation of Korea through the Korean Government (MSIT) under Grant 2017R1A2B4011455.

Publisher Copyright:
© 2013 IEEE.

All Science Journal Classification (ASJC) codes

  • Engineering(all)
  • Materials Science(all)
  • Electrical and Electronic Engineering
  • Computer Science(all)


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