Henrik Andreasson and Tom Duckett
Topological Localization
for
Mobile Robots using Omni-directional Vision and Local Features
Proc. IAV 2004, the 5th IFAC Symposium on
Intelligent Autonomous Vehicles
Abstract
This paper addresses the problem of global localization (``where am
I''?)
by a mobile robot using an omni-directional vision sensor. The
approach
is mainly concerned with the problem of global localization in a
topological
map (consisting of a set of panoramic views), though it also gives an
approximate
estimate of the robot pose relative to the best matching view, so it
could
also be used as the basis for a geometric localization scheme.
Four
different methods for selecting features from the panoramic images were
considered.
Experiments were conducted in a large, populated indoor environment on
different
days under different lighting conditions. A separate, laser-based SLAM
algorithm
was used to generate the ground truth information for performance
evaluation.
The results show that one method based on local features (``modified
SIFT''
features) obtained a significantly higher level of performance and
robustness
to environmental variations compared to the other methods.
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Bibtex
@INPROCEEDINGS{andreasson04topological,
TITLE = {Topological Localization for Mobile Robots Using Omni-directional Vision and Local Features},
AUTHOR = {Andreasson, H. and Duckett, T.},
BOOKTITLE = {Proc. IAV 2004, the 5th IFAC Symposium on Intelligent Autonomous Vehicles},
ADDRESS = {Lisbon, Portugal},
YEAR = {2004},
DATE = {July, 5 -- 7}
}