An Insect-Inspired Active Vision Approach for Orientation Estimation with Panoramic Images

  • Wolfgang Stürzl
  • Ralf Möller
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4527)


We present an insect-inspired approach to orientation estimation for panoramic images. It has been shown by Zeil et al. (2003) that relative rotation can be estimated from global image differences, which could be used by insects and robots as a visual compass [1]. However the performance decreases gradually with the distance of the recording positions of the images. We show that an active vision approach based on local translational movements can significantly improve the orientation estimation. Tests were performed with a mobile robot equipped with a panoramic imaging system in a large entrance hall. Our approach is minimalistic insofar as it is solely based on image differences.


Mobile Robot Reference Image Scale Invariant Feature Transform Active Vision Rotation Error 
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Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • Wolfgang Stürzl
    • 1
  • Ralf Möller
    • 2
  1. 1.Robotics and Embedded Systems, Technical University of MunichGermany
  2. 2.Computer Engineering, Faculty of Technology, Bielefeld UniversityGermany

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