DocumentCode
2750638
Title
Omnidirectional Image Matching for Vision-Based Robot Localization
Author
Saedan, Mana ; Lim, Chee Wang ; Ang, Marcelo H., Jr.
Author_Institution
Dept. of Mech. Eng., National Univ. of Singapore
fYear
2006
fDate
3-5 July 2006
Firstpage
17
Lastpage
22
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
Keywords
Monte Carlo methods; image matching; robot vision; Monte-Carlo localization; omnidirectional image matching; vision-based robot localization; Feature extraction; Image databases; Image matching; Indoor environments; Machine vision; Navigation; Robot localization; Robot sensing systems; Robot vision systems; Spatial databases;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2006 IEEE International Conference on
Conference_Location
Budapest
Print_ISBN
0-7803-9712-6
Electronic_ISBN
0-7803-9713-4
Type
conf
DOI
10.1109/ICMECH.2006.252489
Filename
4018324
Link To Document