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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Full text URL: http://dx.doi.org/10.1016/j.robot.2007.07.001
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.
|Keywords:||appearance-based localization, digital zoom, visual compass, Markov localization|
|Subjects:||H Engineering > H671 Robotics|
|Divisions:||College of Science > School of Computer Science|
|Deposited By:||Nicola Bellotto|
|Deposited On:||17 Dec 2009 10:26|
|Last Modified:||18 Nov 2013 12:15|
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Appearance-based localization for mobile robots using digital zoom and visual compass. (deposited 12 Dec 2009 17:33)
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