Resumen:

Biologically inspired homing methods, such
as the Average Landmark Vector, are an interesting
solution for local navigation due to its simplicity. However,
usually they require a modication of the environment
by placing articial landmarks in order to work reliably.
In this paper we combine the Average Landmark
Vector with invariant feature points automatically detected
in panoramic images to overcome this limitation.
The proposed approach has been evaluated rst in simulation
and, as promising results are found, also in two
data sets of panoramas from real world environments.

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