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Using an Image Retrieval System for Vision-Based Mobile Robot Localization
 

Summary: Using an Image Retrieval System
for Vision-Based Mobile Robot Localization
J¨urgen Wolf1
, Wolfram Burgard2
, and Hans Burkhardt2
1
Department of Computer Science, University of Hamburg
2527 Hamburg, Germany
jwolf@informatik.uni-hamburg.de
2
Department of Computer Science, University of Freiburg
79110 Freiburg, Germany
{burgard,burkhardt}@informatik.uni-freiburg.de
Abstract. In this paper we present a vision-based approach to mo-
bile robot localization, that integrates an image retrieval system with
Monte-Carlo localization. The image retrieval process is based on fea-
tures that are invariant with respect to image translations, rotations,
and limited scale. Since it furthermore uses local features, the system
is robust against distortion and occlusions which is especially important
in populated environments. The sample-based Monte-Carlo localization

  

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