Appearance-based mapping and localisation using feature stability histograms

被引：7

作者：

Bacca, B. ^{[1
,3
]}

Salvi, J. ^{[1
,2
]}

Batlle, J.

Cufi, X. ^{[1
,2
]}

机构：

[1] Univ Girona, VICOROB, Girona 17071, Spain

[2] Univ Girona, Dept Comp Engn, Girona 17071, Spain

[3] Univ Valle, Cali, Colombia

来源：

ELECTRONICS LETTERS | 2010年 / 46卷 / 16期

关键词：

D O I：

10.1049/el.2010.1599

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Proposed is an appearance-based mapping and localisation method based on the human memory model, which is used to build a feature stability histogram (FSH) at each node in the robot topological map. FSH registers local feature stability over time through a voting scheme, and most stable features are considered for mapping and Bayesian localisation. Experimental results are presented using omnidirectional images acquired through long-term acquisition considering: illumination changes, occlusions, random removal of features and perceptual aliasing. This method is able to adapt the internal node's representation through time to achieve global and local robot localisation.

引用

页码：1120 / U42

页数：2

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