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

被引：19

作者：

Bellotto, N. ^{[1
]}

Burn, K. ^{[2
]}

Fletcherb, E. ^{[2
]}

Wermter, S. ^{[2
]}

机构：

[1] Univ Essex, Dept Comp Sci, Human Centred Robot Grp, Colchester CO4 3SQ, Essex, England

[2] Univ Sunderland, Sch Comp & Technol, Ctr Hybrid Intelligent Syst, Sunderland SR6 0DD, Durham, England

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2008年 / 56卷 / 02期

关键词：

appearance-based localization; digital zoom; visual compass; Markov localization;

D O I：

10.1016/j.robot.2007.07.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 is demonstrated experimentally. (c) 2007 Elsevier B.V. All rights reserved.

引用

页码：143 / 156

页数：14

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