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Sensors 2017, 17(8), 1928;

Landmark-Based Homing Navigation Using Omnidirectional Depth Information

School of Electrical and Electronic Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea
Author to whom correspondence should be addressed.
Received: 22 June 2017 / Revised: 16 August 2017 / Accepted: 18 August 2017 / Published: 22 August 2017
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A number of landmark-based navigation algorithms have been studied using feature extraction over the visual information. In this paper, we apply the distance information of the surrounding environment in a landmark navigation model. We mount a depth sensor on a mobile robot, in order to obtain omnidirectional distance information. The surrounding environment is represented as a circular form of landmark vectors, which forms a snapshot. The depth snapshots at the current position and the target position are compared to determine the homing direction, inspired by the snapshot model. Here, we suggest a holistic view of panoramic depth information for homing navigation where each sample point is taken as a landmark. The results are shown in a vector map of homing vectors. The performance of the suggested method is evaluated based on the angular errors and the homing success rate. Omnidirectional depth information about the surrounding environment can be a promising source of landmark homing navigation. We demonstrate the results that a holistic approach with omnidirectional depth information shows effective homing navigation. View Full-Text
Keywords: landmark navigation; homing navigation; distance sensor; distance-estimated landmark vector; landmark vector; arrangement order matching landmark navigation; homing navigation; distance sensor; distance-estimated landmark vector; landmark vector; arrangement order matching

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Lee, C.; Yu, S.-E.; Kim, D. Landmark-Based Homing Navigation Using Omnidirectional Depth Information. Sensors 2017, 17, 1928.

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