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In this paper a new, efficient approach to accurate image-based homing is proposed for indoor robots that makes use of the ceiling plane. A gradient orientation histogram is built to calculate the rotation of the robot between a target location ‘snapshot’ and the current image perception, and efficient 1D average row and column images are constructed to find the vector pointing to the home location. Our algorithm is ideally suited for use on low-powered, cheap robots where sensing and computational power are limited.
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