{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,28]],"date-time":"2025-05-28T04:10:02Z","timestamp":1748405402654,"version":"3.41.0"},"reference-count":24,"publisher":"Cambridge University Press (CUP)","issue":"12","license":[{"start":{"date-parts":[[2015,5,28]],"date-time":"2015-05-28T00:00:00Z","timestamp":1432771200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Visual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved in using stereovision derived depth in visual homing and our proposed solutions. Our algorithm,<jats:italic>Homing with Stereovision<\/jats:italic>(HSV), utilizes a stereo camera mounted on a pan-tilt unit to build composite wide-field stereo images and estimate distance and orientation from the robot to the goal location. HSV is evaluated in a set of 200 indoor trials using two Pioneer 3-AT robots showing it effectively leverages stereo depth information when compared to a depth from scale approach.<\/jats:p>","DOI":"10.1017\/s026357471500034x","type":"journal-article","created":{"date-parts":[[2015,5,28]],"date-time":"2015-05-28T07:57:56Z","timestamp":1432799876000},"page":"2741-2758","source":"Crossref","is-referenced-by-count":11,"title":["Homing with stereovision"],"prefix":"10.1017","volume":"34","author":[{"given":"Paramesh","family":"Nirmal","sequence":"first","affiliation":[]},{"given":"Damian M.","family":"Lyons","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,5,28]]},"reference":[{"key":"S026357471500034X_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00605469"},{"key":"S026357471500034X_ref18","doi-asserted-by":"publisher","DOI":"10.1080\/10407413.1998.9652684"},{"key":"S026357471500034X_ref12","doi-asserted-by":"publisher","DOI":"10.1006\/jtbi.2001.2295"},{"key":"S026357471500034X_ref3","doi-asserted-by":"crossref","unstructured":"D. Churchill and A. Vardy , \u201cHoming in scale space,\u201d Proceedings of the IEEE\/RSJ Conference on Intelligent Robots and Systems (IROS), (2008).","DOI":"10.1109\/IROS.2008.4651166"},{"key":"S026357471500034X_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050470"},{"key":"S026357471500034X_ref16","doi-asserted-by":"crossref","unstructured":"P. Nirmal and D. Lyons , \u201cVisual Homing with a Pan-Tilt Based stereo camera,\u201d Proceedings of the SPIE Conference on Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, Burlingame CA (2013).","DOI":"10.1117\/12.2004995"},{"key":"S026357471500034X_ref15","unstructured":"R. M\u00f6ller , D. Lambrinos , R. Pfeifer and R. Wehner , \u201cInsect strategies of visual homing in mobile robots,\u201d Comput. Vis. Mobile Robot. Workshop (1998)."},{"key":"S026357471500034X_ref23","doi-asserted-by":"crossref","unstructured":"R. Wehner , \u201cSpatial Vision in Anthropods,\u201d In: Handbook of Sensory Physiology VII\/6C, Comparative physiology and evolution of vision in vertebrates (1981).","DOI":"10.1007\/978-3-642-67868-4_4"},{"key":"S026357471500034X_ref2","doi-asserted-by":"crossref","unstructured":"D. Choi , I. Shim , Y. Bok , T. Oh and I. Kweon , \u201cAutonomous homing based on laser-camera fusion system,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, (2012).","DOI":"10.1109\/IROS.2012.6386080"},{"key":"S026357471500034X_ref24","doi-asserted-by":"publisher","DOI":"10.1364\/JOSAA.20.000450"},{"key":"S026357471500034X_ref10","doi-asserted-by":"crossref","unstructured":"M. Liu , C. Pradalier , F. Pomerleau and R. Siegwart , \u201cThe Role of Homing in Visual Topological Navigation,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), (2012).","DOI":"10.1109\/IROS.2012.6385640"},{"volume-title":"Computational Principles of Mobile Robotics","year":"2000","author":"Dudek","key":"S026357471500034X_ref5"},{"key":"S026357471500034X_ref19","doi-asserted-by":"crossref","unstructured":"W. Sturzl and H. Mallot , \u201cVision-Based Homing with a Panoramic Stereovision Sensor,\u201d Proceedings of the British Machine Vision Conference 2002 LNCS 2525 (2002).","DOI":"10.1007\/3-540-36181-2_62"},{"key":"S026357471500034X_ref6","doi-asserted-by":"crossref","unstructured":"W. Feng , B. Zhang , J. Roning , X. Zong and T. Yi , \u201cPanoramic Stereo Vision,\u201d Proceedings of the SPIE Conference on Intelligent Robotics and Computer Vision XXX: Algorithms and Techniques, Burlingame CA (2013).","DOI":"10.1117\/12.2004580"},{"key":"S026357471500034X_ref7","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"S026357471500034X_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-006-0095-3"},{"key":"S026357471500034X_ref22","doi-asserted-by":"crossref","unstructured":"A. Vardy and F. Oppacher , \u201cLow-level visual homing,\u201d Advances in artificial life - Proceedings, 7th European Concerence on Artificial Life (vol. 2801 Lecture Notes in Artificial Intelligence) (2003).","DOI":"10.1007\/978-3-540-39432-7_94"},{"key":"S026357471500034X_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.02.001"},{"key":"S026357471500034X_ref21","doi-asserted-by":"publisher","DOI":"10.1080\/09540090500140958"},{"key":"S026357471500034X_ref11","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"S026357471500034X_ref17","unstructured":"J. Pons , W. Huhner , J. Dahmen and H. Mallot , \u201cVision-Based Robot Homing in Dynamic Environments,\u201d Proceedings of the 13th IASTED International Conference on Robotics and Applications (2007)."},{"volume-title":"Probabilistic Robotics","year":"2005","author":"Thrun","key":"S026357471500034X_ref20"},{"key":"S026357471500034X_ref4","first-page":"3","article-title":"An orientation invarient visual homing algorithm","volume":"17","author":"Churchill","year":"2012","journal-title":"J. Intell. Robot. Syst."},{"key":"S026357471500034X_ref9","doi-asserted-by":"crossref","unstructured":"Y. Jin and M. Xie , \u201cVision guided Homing for Humanoid Service Robot,\u201d Proceedings of the 15th International Conference on Pattern Recognition (ICPR), Vol. 4 (2000).","DOI":"10.1109\/ICPR.2000.902969"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471500034X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,28]],"date-time":"2025-05-28T03:50:48Z","timestamp":1748404248000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471500034X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,5,28]]},"references-count":24,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2016,12]]}},"alternative-id":["S026357471500034X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471500034x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2015,5,28]]}}}