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2008

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

9 years 3 months ago
Appearance-based localization for mobile robots using digital zoom and visual compass
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 appearancebased 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.
Nicola Bellotto, Kevin Burn, E. Fletcher, Stefan W
Added 28 Dec 2010
Updated 28 Dec 2010
Type Journal
Year 2008
Where RAS
Authors Nicola Bellotto, Kevin Burn, E. Fletcher, Stefan Wermter
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