A view-based method for local homing of unmanned rotorcraft

This paper describes a novel view-based method using panoramic images to perform local homing in outdoor environments. This holistic algorithm makes uses of difference images (in relation to a reference snapshot) to build an image reference frame centred at the home position. The currently experienced view at any local position is then projected onto this reference frame to determine the image coordinates and the homing vector. We present here results obtained in a simulated environment as well as from static outdoor tests. The biologically inspired algorithm described in this study is a feasible alternative to the local homing schemes that strongly rely on odometry or landmark extraction, making it therefore well suited for implementation onboard unmanned aerial vehicles.