Skip to main content
SpringerLink
Log in

A Moment Measure Model of Landmarks for Local Homing Navigation

  • Conference paper
  • First Online:
From Animals to Animats 14 (SAB 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9825))

Included in the following conference series:

  • 1168 Accesses

Abstract

Visual navigation in robotics is one of the challenging issues, and many navigation approaches are based on localization of a mobile robot in the environment. The snapshot model is a biologically inspired model of insect behaviour to return home and it shows a simple algorithm to compare the snapshot images at the current position and the destination, instead of complex localization process. Here, we propose a new homing navigation method based on a moment measure to characterize the snapshot image efficiently. The method uses range values or pixel values of surrounding landmarks. Then it defines a moment measure to evaluate the environmental features, or landmark distributions, and the measure forms a convex shape of landscape with respect to robot positions in the environment. Based on the landscape, the mobile robot can return home successfully. Range sensors or image sensors can sufficiently provide the landscape information. Our experimental results demonstrate that the method is effective even in real environments.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Cartwright, B., Collett, T.: Landmark learning in bees. J. Comp. Physiol. A 151(4), 521–543 (1983)

    Article  Google Scholar 

  2. Collett, M., Collett, T.: How do insects use path integration for their navigation? Biol. Cybern. 83(3), 245–259 (2000)

    Article  Google Scholar 

  3. Etienne, A., Jeffery, K.: Path integration in mammals. Hippocampus 14(2), 180–192 (2004)

    Article  Google Scholar 

  4. Etienne, A., Maurer, R., Seguinot, V.: Path integration in mammals and its interaction with visual landmarks. J. Exp. Biol. 199, 201–209 (1996)

    Google Scholar 

  5. Franz, M., Scholkopf, B., Mallot, H., Bulthoff, H.: Where did I take that snapshot? Scene-based homing by image matching. Biol. Cybern. 79(3), 191–202 (1998)

    Article  MATH  Google Scholar 

  6. Franz, M.: Minimalistic visual navigation = Minimalistische visuelle navigation. Ph.D. thesis, Universitat Tubingen (1999)

    Google Scholar 

  7. Garm, A., Oskarsson, M., Nilsson, D.: Box jellyfish use terrestrial visual cues for navigation. Curr. Biol. (2011)

    Google Scholar 

  8. Hong, J., Tan, X., Pinette, B., Weiss, R., Riseman, E.: Image-based homing. IEEE Control Syst. Mag. 12(1), 38–45 (1992)

    Article  Google Scholar 

  9. Kimchi, T., Etienne, A., Terkel, J.: A subterranean mammal uses the magnetic compass for path integration. Proc. Natl. Acad. Sci. U.S.A. 101(4), 1105 (2004)

    Article  Google Scholar 

  10. Kirchner, W., Braun, U.: Dancing honey bees indicate the location of food sources using path integration rather than cognitive maps. Anim. Behav. 48(6), 1437–1441 (1994)

    Article  Google Scholar 

  11. Kwon, T., Song, J.: A new feature commonly observed from air and ground for outdoor localization with elevation map built by aerial mapping system. J. Field Robot. 28(2), 227–240 (2011)

    Article  Google Scholar 

  12. Labrosse, F.: Short and long-range visual navigation using warped panoramic images. Robot. Auton. Syst. 55(9), 675–684 (2007)

    Article  Google Scholar 

  13. Lambrinos, D., Moller, R., Labhart, T., Pfeifer, R., Wehner, R.: A mobile robot employing insect strategies for navigation. Robot. Auton. Syst. 30(1–2), 39–64 (2000)

    Article  Google Scholar 

  14. Lent, D., Graham, P., Collett, T.: Image-matching during ant navigation occurs through saccade-like body turns controlled by learned visual features. Proc. Natl. Acad. Sci. 107(37), 16348–16353 (2010)

    Article  Google Scholar 

  15. Luschi, P., Papi, F., Liew, H., Chan, E., Bonadonna, F.: Long-distance migration and homing after displacement in the green turtle (Chelonia mydas): a satellite tracking study. J. Comp. Physiol. A 178(4), 447–452 (1996)

    Article  Google Scholar 

  16. Mather, J.: Navigation by spatial memory and use of visual landmarks in octopuses. J. Comp. Physiol. A: Neuroethology Sens. Neural Behav. Physiol. 168(4), 491–497 (1991)

    Article  Google Scholar 

  17. Moller, R., Vardy, A.: Local visual homing by matched-filter descent in image distances. Biol. Cybern. 95(5), 413–430 (2006)

    Article  MathSciNet  MATH  Google Scholar 

  18. Moller, R., Vardy, A., Kreft, S., Ruwisch, S.: Visual homing in environments with anisotropic landmark distribution. Auton. Robots 23(3), 231–245 (2007)

    Article  Google Scholar 

  19. Moller, R.: Local visual homing by warping of two-dimensional images. Robot. Auton. Syst. 57(1), 87–101 (2009)

    Article  Google Scholar 

  20. Moller, R., Krzykawski, M., Gerstmayr, L.: Three 2D-warping schemes for visual robot navigation. Auton. Robots 29(3), 253–291 (2010)

    Article  Google Scholar 

  21. Ramisa, A., Goldhoorn, A., Aldavert, D., Toledo, R., de Mantaras, R.: Combining invariant features and the ALV homing method for autonomous robot navigation based on panoramas. J. Intell. Robot. Syst. 1–25 (2011)

    Google Scholar 

  22. Smith, L., Philippides, A., Graham, P., Baddeley, B., Husbands, P.: Linked local navigation for visual route guidance. Adapt. Behav. 15(3), 257–271 (2007)

    Article  Google Scholar 

  23. Srinivasan, M.: Honey bees as a model for vision, perception, and cognition. Ann. Rev. Entomol. 55, 267–284 (2010)

    Article  Google Scholar 

  24. Steck, K., Knaden, M., Hansson, B.: Do desert ants smell the scenery in stereo? Anim. Behav. 79(4), 939–945 (2010)

    Article  Google Scholar 

  25. Ugolini, A., Borgioli, G., Galanti, G., Mercatelli, L., Hariyama, T.: Photoresponses of the compound eye of the sandhopper talitrus saltator (Crustacea, Amphipoda) in the ultraviolet-blue range. Biol. Bull. 219(1), 72–79 (2010)

    Article  Google Scholar 

  26. Weber, K., Venkatesh, S., Srinivasan, M.: Insect-inspired robotic homing. Adapt. Behav. 7(1), 65–97 (1999)

    Article  Google Scholar 

  27. Zeil, J.: Visual homing: an insect perspective. Curr. Opin. Neurobiol

    Google Scholar 

  28. Zeil, J., Hemmi, J.: The visual ecology of fiddler crabs. J. Comp. Physiol. A 192(1), 1–25 (2006)

    Article  Google Scholar 

  29. Zeil, J., Hofmann, M., Chahl, J.: Catchment areas of panoramic snapshots in outdoor scenes. J. Opt. Soc. Am. A 20(3), 450–469 (2003)

    Article  Google Scholar 

Download references

Acknowledgement

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (No. 2014R1A2A1A11053839).

Author information

Authors and Affiliations

  1. Biological Cybernetics Lab, School of Electrical and Electronic Engineering, Yonsei University, Shinchon, Seoul, 120-749, South Korea

    Changmin Lee & DaeEun Kim

Authors
  1. Changmin Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. DaeEun Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Changmin Lee .

Editor information

Editors and Affiliations

  1. Aberystwyth University, Aberystwyth, United Kingdom

    Elio Tuci

  2. Aberystwyth University, Aberystwyth, United Kingdom

    Alexandros Giagkos

  3. Aberystwyth University, Aberystwyth, United Kingdom

    Myra Wilson

  4. University of Southern Denmark, Odense, Denmark

    John Hallam

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Lee, C., Kim, D. (2016). A Moment Measure Model of Landmarks for Local Homing Navigation. In: Tuci, E., Giagkos, A., Wilson, M., Hallam, J. (eds) From Animals to Animats 14. SAB 2016. Lecture Notes in Computer Science(), vol 9825. Springer, Cham. https://doi.org/10.1007/978-3-319-43488-9_12

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-43488-9_12

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43487-2

  • Online ISBN: 978-3-319-43488-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation