An Orientation Invariant Visual Homing Algorithm

Visual homing is the ability of an agent to return to a goal position by comparing the currently viewed image with an image captured at the goal, known as the snapshot image. In this paper we present additional mathematical justification and experimental results for the visual homing algorithm first presented in Churchill and Vardy (2008). This algorithm, known as Homing in Scale Space, is far less constrained than existing methods in that it …