Appearance-based localization for mobile robots using digital zoom and visual compass

Bellotto, Nicola and Burn, Kevin and Fletcher, Eric and Wermter, Stefan (2008) Appearance-based localization for mobile robots using digital zoom and visual compass. Robotics and Autonomous Systems, 56 (2). pp. 143-156. ISSN 0921-8890

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Official URL: http://dx.doi.org/10.1016/j.robot.2007.07.001

Abstract

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally.

Item Type:Article
Keywords:appearance-based localization, digital zoom, visual compass, Markov localization
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:2103
Deposited By: Nicola Bellotto
Deposited On:17 Dec 2009 10:26
Last Modified:18 Nov 2013 12:15

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