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ICRA
2002
IEEE

Natural Landmark Based Localisation System using Panoramic Images

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Natural Landmark Based Localisation System using Panoramic Images
A panoramic image based localisation system has been implemented on a B21r mobile robot and tested in a heavily cluttered environment. It takes vertical object edges as natural landmarks and extracts a one-dimensional token sequence from the input image before matching with reference image sequences. Matched points are then triangulated to give a set of position estimates, and the best result is taken as the current robot position. Selection criteria and methods for the reference image sites are also discussed, including the use of generalised Voronoi vertices.
David C. K. Yuen, Bruce A. MacDonald
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors David C. K. Yuen, Bruce A. MacDonald
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