{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T02:45:05Z","timestamp":1781145905094,"version":"3.54.1"},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2019,7,3]],"date-time":"2019-07-03T00:00:00Z","timestamp":1562112000000},"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":[[2020,5]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Visual homing is a local navigation technique used to direct a robot to a previously seen location by comparing the image of the original location with the current visual image. Prior work has shown that exploiting depth cues such as image scale or stereo-depth in homing leads to improved homing performance. While it is not unusual to use a panoramic field of view (FOV) camera in visual homing, it is unusual to have a panoramic FOV stereo-camera. So, while the availability of stereo-depth information may improve performance, the concomitant-restricted FOV may be a detriment to performance, unless specialized stereo hardware is used. In this paper, we present an investigation of the effect on homing performance of varying the FOV widths in a stereo-vision-based visual homing algorithm using a common stereo-camera. We have collected six stereo-vision homing databases \u2013 three indoor and three outdoor. Based on over 350,000 homing trials, we show that while a larger FOV yields performance improvements for larger homing offset angles, the relative improvement falls off with increasing FOVs, and in fact decreases for the widest FOV tested. We conduct additional experiments to identify the cause of this fall-off in performance, which we term the \u2018blinder\u2019 effect, and which we predict should affect other correspondence-based visual homing algorithms.<\/jats:p>","DOI":"10.1017\/s0263574719001061","type":"journal-article","created":{"date-parts":[[2019,7,3]],"date-time":"2019-07-03T06:47:57Z","timestamp":1562136477000},"page":"787-803","source":"Crossref","is-referenced-by-count":11,"title":["Evaluation of Field of View Width in Stereo-vision-Based Visual Homing"],"prefix":"10.1017","volume":"38","author":[{"given":"D. M.","family":"Lyons","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"B.","family":"Barriage","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"L. Del","family":"Signore","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2019,7,3]]},"reference":[{"key":"S0263574719001061_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989164"},{"key":"S0263574719001061_ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-010-0375-9"},{"key":"S0263574719001061_ref27","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0194070"},{"key":"S0263574719001061_ref25","unstructured":"25. Jin, Y. and Xie, M. , \u201cVision Guided Homing for Humanoid Service Robot,\u201d Proceedings of the 15th International Conference on Pattern Recognition (ICPR) vol. 4, Barcelona, Spain (2000)."},{"key":"S0263574719001061_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386080"},{"key":"S0263574719001061_ref23","unstructured":"23. Fang, F. and Lyons, D. , \u201cRobust Homing with Stereovision,\u201d Proceedings of the SPIE Unmanned Systems Technology XX, Orlando, FL (2018)."},{"key":"S0263574719001061_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907475"},{"key":"S0263574719001061_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-011-9552-x"},{"key":"S0263574719001061_ref10","unstructured":"10. Feng, W. , Zhang, B. , Roning, J. , Zong, X. and Yi, T. , \u201cPanoramic Stereo Vision,\u201d Proceedings of the SPIE Conference on Intelligent Robotics and Computer Vision XXX: Algorithms and Techniques, Burlingame, CA (2013)."},{"key":"S0263574719001061_ref29","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"S0263574719001061_ref11","first-page":"3","article-title":"An orientation invariant visual homing algorithm","volume":"17","author":"Churchill","year":"2012","journal-title":"J. Intell. Robot. 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Vardy, A. , Biologically Plausible Methods for Robot Visual Homing, Ph.D. Thesis (School of Computer Science, Carleton University, 2005)."},{"key":"S0263574719001061_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0603-7"},{"key":"S0263574719001061_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-006-0095-3"},{"key":"S0263574719001061_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050470"},{"key":"S0263574719001061_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224900"},{"key":"S0263574719001061_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/70.105395"},{"key":"S0263574719001061_ref28","doi-asserted-by":"publisher","DOI":"10.1142\/7080"},{"key":"S0263574719001061_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.408"},{"key":"S0263574719001061_ref21","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574712000434"},{"key":"S0263574719001061_ref2","volume-title":"Probabilistic Robotics","author":"Thrun","year":"2005"},{"key":"S0263574719001061_ref3","volume-title":"Computational Principles of Mobile Robotics","author":"Dudek","year":"2000"},{"key":"S0263574719001061_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.07.011"},{"key":"S0263574719001061_ref18","unstructured":"18. Pons, J. , Huhner, W. , Dahmen, J. and Mallot, H. , \u201cVision-Based Robot Homing in Dynamic Environments,\u201d Proceedings of the 13th IASTED International Conference on Robotics and Applications, W\u00fcrzburg, Germany (2007)."},{"key":"S0263574719001061_ref14","doi-asserted-by":"publisher","DOI":"10.1006\/jtbi.2001.2295"},{"key":"S0263574719001061_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651166"},{"key":"S0263574719001061_ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9043-x"},{"key":"S0263574719001061_ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471500034X"},{"key":"S0263574719001061_ref1","unstructured":"1. Stelzer, A. , Mair, E. and Suppa, M. , \u201cTrail-Map: A Scalable Landmark Data Structure for Biologically Inspired Range-Free Navigation,\u201d Proceedings of the IEEE International Conference on Robotics and Biomimetics, Bali, Indonesia (2014) pp. 2138\u20132145."},{"key":"S0263574719001061_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00064-0"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574719001061","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,3,30]],"date-time":"2020-03-30T13:44:32Z","timestamp":1585575872000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574719001061\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,3]]},"references-count":32,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["S0263574719001061"],"URL":"https:\/\/doi.org\/10.1017\/s0263574719001061","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,3]]}}}