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Summary: Omnidirectional Image Matching for
Vision-Based Robot Localization
Mana Saedan1
, Chee Wang Lim2
and Marcelo H. Ang, Jr1
1
Department of Mechanical Engineering 2
Singapore Institute of Manufacturing Technology
National University of Singapore Agency for Science, Technology and Research
9 Engineering Dr 1, Singapore 117576 71 Nanyang Drive, Singapore 638075
Singapore Singapore
{saedanm, mpeangh}@nus.edu.sg cwlim@simtech.a-star.edu.sg
Abstract The new approach to utilize information from an
omnidirectional image is presented in this paper. We describe
the integration between the image matching and the Monte-
Carlo localization that can be implemented in a large indoor
environment. The robot is able to localize with reasonable
accuracy despite no metric measurements from the image.
Furthermore, the algorithm can recover quickly from
localizing a robot at a wrong place.
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