DocumentCode
2132637
Title
Comparing global measures of image similarity for use in topological localization of mobile robots
Author
Ferdaus, Syeda Nusrat ; Vardy, Andrew ; Mann, George ; Gosine, Ray
Author_Institution
Intell. Syst. Lab., Memorial Univ. of Newfoundland, St. John, NL
fYear
2008
fDate
4-7 May 2008
Abstract
In this paper, two global measures of image similarity are compared for use in topological localization of mobile robots. A catadioptric vision system was used as the sensor. Our localization system employs a discrete Bayes filter. Experimental results with real images of an office environment indicate the robot can localize itself from the memorized training images even with the modification of the environment.
Keywords
Bayes methods; filtering theory; mobile robots; path planning; robot vision; catadioptric vision system; discrete Bayes filter; image similarity; mobile robot; office environment; real image; sensor; topological localization; Cameras; Filters; Fourier transforms; Histograms; Intelligent sensors; Intelligent systems; Mobile robots; Robot sensing systems; Robot vision systems; Robustness; Bayes filter; Localization; mobile robot; omnidirectional images;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on
Conference_Location
Niagara Falls, ON
ISSN
0840-7789
Print_ISBN
978-1-4244-1642-4
Electronic_ISBN
0840-7789
Type
conf
DOI
10.1109/CCECE.2008.4564669
Filename
4564669
Link To Document