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Learning View Graphs for Robot Navigation


Technical Report


We present a purely vision-based scheme for learning a parsimonious representation of an open environment. Using simple exploration behaviours, our system constructs a graph of appropriately chosen views. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. Simulations and robot experiments demonstrate the feasibility of the proposed approach.

Author(s): Franz, M. and Schölkopf, B. and Georg, P. and Mallot, HA. and Bülthoff, HH.
Number (issue): 33
Year: 1996
Month: July
Day: 0

Department(s): Empirical Inference
Bibtex Type: Technical Report (techreport)

Institution: Max Planck Institute for Biological Cybernetics, Tübingen,

Digital: 0
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik


  title = {Learning View Graphs for Robot Navigation},
  author = {Franz, M. and Sch{\"o}lkopf, B. and Georg, P. and Mallot, HA. and B{\"u}lthoff, HH.},
  number = {33},
  organization = {Max-Planck-Gesellschaft},
  institution = {Max Planck Institute for Biological Cybernetics, Tübingen,},
  school = {Biologische Kybernetik},
  month = jul,
  year = {1996},
  month_numeric = {7}