DocumentCode
2237274
Title
Mobile robot self-localization based on global visual appearance features
Author
Zhou, Chao ; Wei, Yucheng ; Tan, Tieniu
Author_Institution
Nat. Lab. of Pattern Recognition, Chinese Acad. of Sci., Beijing, China
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1271
Abstract
The paper presents a novel method for mobile robot localization using visual appearance features. A multidimensional histogram is used to describe the global appearance features of an image such as colors, edge density, gradient magnitude, textures and so on. The matching of histograms determines the location of the robot. The method has been evaluated in an indoor environment, and the system correctly determines the location of 82.9% of the input scene images.
Keywords
edge detection; feature extraction; image colour analysis; mobile robots; robot vision; edge density; global visual appearance features; gradient magnitude; indoor environment; mobile robot self-localization; multidimensional histogram; Charge-coupled image sensors; Histograms; Image databases; Image processing; Image recognition; Image segmentation; Intelligent robots; Layout; Mobile robots; Spatial databases;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241767
Filename
1241767
Link To Document