Thanks for the links. Yes, as it turns out, I had already read those reports. I have also read a number of papers on using omnidirectional vision to home in on previous snapshots and I have tried out several of the algorithms. The best I was able to do was get back the relative rotational angle between the current image and the saved snapshot. However, none of the methods for determining the translational parameters worked very well in my environment (typical household setting). Most of the papers used simple lab environments with fairly structured features. So yes, going to a structured environment would certainly help.
--patrick
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