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Sensors 2014, 14(2), 3342-3361; doi:10.3390/s140203342

Feature Optimization for Long-Range Visual Homing in Changing Environments

College of Automation, Harbin Engineering University, Harbin 150001, China
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Received: 20 December 2013 / Revised: 13 February 2014 / Accepted: 14 February 2014 / Published: 19 February 2014
(This article belongs to the Section Physical Sensors)
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Abstract

This paper introduces a feature optimization method for robot long-range feature-based visual homing in changing environments. To cope with the changing environmental appearance, the optimization procedure is introduced to distinguish the most relevant features for feature-based visual homing, including the spatial distribution, selection and updating. In the previous research on feature-based visual homing, less effort has been spent on the way to improve the feature distribution to get uniformly distributed features, which are closely related to homing performance. This paper presents a modified feature extraction algorithm to decrease the influence of anisotropic feature distribution. In addition, the feature selection and updating mechanisms, which have hardly drawn any attention in the domain of feature-based visual homing, are crucial in improving homing accuracy and in maintaining the representation of changing environments. To verify the feasibility of the proposal, several comprehensive evaluations are conducted. The results indicate that the feature optimization method can find optimal feature sets for feature-based visual homing, and adapt the appearance representation to the changing environments as well.
Keywords: long-range visual homing; uniform distribution; feature selection; feature updating; changing environments long-range visual homing; uniform distribution; feature selection; feature updating; changing environments
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Zhu, Q.; Liu, X.; Cai, C. Feature Optimization for Long-Range Visual Homing in Changing Environments. Sensors 2014, 14, 3342-3361.

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