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Summary: Vision-based Localization Using a Central
Catadioptric Vision System
Mana Saedan1
, Chee Wang Lim2
, and Marcelo H. Ang, Jr1
1
Department of Mechanical Engineering
National University of Singapore
9 Engineering Dr 1, Singapore 117576
{saedanm, mpeangh}@nus.edu.sg
2
Singapore Institute of Manufacturing Technology
Agency for Science, Technology and Research
71 Nanyang Drive, Singapore 638075
cmlim@simtech.a-star.edu.sg
Summary. We present an appearance-based localization algorithm for an indoor
environment that is inspired by human's localization and navigation capabilities.
Our localization approach integrates the Monte-Carlo localization technique with an
omnidirectional image matching algorithm. The approach yields robust localization
outcome with reasonable accuracy even when operating in a large map with sparse
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