A bee-inspired visual homing using color images

This paper presents a visual homing algorithm for autonomous robots inspired by the behaviour of bees and other social insects. The homing method presented is based on an affine motion model whose parameters are estimated by a best matching criterion. No attempts are made to recognize the objects or to extract 3D models from the scene. Improvements in the algorithm and in the use of colour information are introduced in order to enhance the efficiency of the navigation vector estimate. Tests and results are presented.