Image-based homing navigation with landmark arrangement matching

Seung Eun Yu, Daeeun Kim

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


Many insects and animals exploit their own navigation systems to navigate in space. Biologically-inspired methods have been introduced for landmark-based navigation algorithms of a mobile robot. The methods determine the movement direction based on a home snapshot image and another snapshot from the current position. In this paper, we suggest a new landmark-based matching method for robotic homing navigation that first computes the distance to each landmark based on ego-motion and estimates the landmark arrangement in the snapshot image. Then, landmark vectors are used to localize the robotic agent in the environment and to choose the appropriate direction to return home. As a result, this method has a higher success rate for returning home from an arbitrary position than do the conventional image-matching algorithms.

Original languageEnglish
Pages (from-to)3427-3442
Number of pages16
JournalInformation sciences
Issue number16
Publication statusPublished - 2011 Aug 15

Bibliographical note

Funding Information:
This work was supported by the Mid-career Researcher Program through an NRF grant funded by the MEST (No. 2010-0000460 ).

All Science Journal Classification (ASJC) codes

  • Software
  • Information Systems and Management
  • Artificial Intelligence
  • Theoretical Computer Science
  • Control and Systems Engineering
  • Computer Science Applications


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