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Robust Vision-based Localization for Mobile Robots Using an Image Retrieval System Based on Invariant Features
 

Summary: Robust Vision-based Localization for Mobile Robots
Using an Image Retrieval System Based on Invariant Features
J¨urgen Wolf
Wolfram Burgard
Hans Burkhardt

Department of Computer Science, University of Hamburg, 22527 Hamburg, Germany

Department of Computer Science, University of Freiburg, 79110 Freiburg, Germany
Abstract
In this paper we present a vision-based approach to mo-
bile robot localization, that integrates an image retrieval sys-
tem with Monte-Carlo localization. The image retrieval pro-
cess is based on features that are invariant with respect to
image translations, rotations, and limited scale. Since it fur-
thermore uses local features, the system is robust against dis-
tortion and occlusions which is especially important in popu-
lated environments. By using the sample-based Monte-Carlo
localization technique our robot is able to globally localize it-
self, to reliably keep track of its position, and to recover from

  

Source: Albert-Ludwigs-Universität Freiburg, Institut für Informatik,, Lehrstuhls für Mustererkennung und Bildverarbeitung
Burgard, Wolfram - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences