Visual Homing for Micro Aerial Vehicles Using Scene Familiarity

G.J.J. van Dalen, Kimberly McGuire, Guido de Croon

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
24 Downloads (Pure)


Autonomous navigation is a major challenge in the development of Micro Aerial Vehicles (MAVs). Especially, when an algorithm has to be efficient, insect intelligence can be a source of inspiration. One of the elementary navigation tasks of insects and robots is “homing”, which is the task of returning to an initial starting position. A promising approach uses learned visual familiarity of a route to determine reference headings during homing. In this paper, an existing biological proof-of-concept is transferred to an algorithm for micro drones, using vision-in-the-loop experiments in indoor environments. An artificial neural network determines which control actions to take place.
Original languageEnglish
Pages (from-to)119-130
JournalUnmanned Systems
Issue number02
Publication statusPublished - 8 Jun 2018


  • Visual Homing
  • Scene familiarity
  • MAV


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