Insect-inspired holistic visual navigation methods for navigation of wheeled and flying robots in outdoor environments

受昆虫启发的视觉机器人导航整体方法是一种新兴的替代方法，无处不在的基于特征的方法。整体方法不是提取和匹配局部特征描述符，而是将整个图像相互关联。整体方法保证了在不同环境下较低的计算量和良好的导航性能。该项目的目标是实质性地推进整体方法并克服当前的限制，特别是通过增加可处理的自由度，通过提高光照容忍度，以及通过开发能够在复杂深度结构环境中运行的方法。由于这三个主要要求在室外环境中特别强烈，因此整体方法的适用性将在室外机器人实验中得到证明，无论是在检查或监视任务中的飞行机器人（多直升机）上，还是在割草机场景中的轮式室外机器人上。

Insect-inspired holistic methods for visual robot navigation are anemerging alternative to the ubiquitous feature-based methods. Rather than extracting and matching local feature descriptors, holistic methods interrelate entire images with each other. The holistic approach promises low computational effort and good navigation performance over different environments. The goal of this project isto substantially advance holistic methods and overcome currentlimitations, especially by increasing the degrees of freedom which can be handled, by improving illumination tolerance, and by developing methods capable of operating in environments with complex depthstructure. Since these three main requirements are particularly strong in outdoor environments, the applicability of holistic methods will be demonstrated in outdoor robot experiments, both on a flying robot (multicopter) in an inspection or surveillance task and on a wheeledoutdoor robot in a lawn mower scenario.