Title :
Particle filter based self-localization using visual landmarks and image database
Author_Institution :
Hamilton Inst., Nat. Univ. of Ireland, Maynooth, Ireland
Abstract :
This paper presents an approach to vision-based self-localization using the combination of particle filter and preprocessed image database. The robot uses particle filter with odometery data and landmark pose for position tracking. Furthermore, it uses the image database to globally localize itself when it has been kidnapped or when no landmark is visible.
Keywords :
particle filtering (numerical methods); robot vision; tracking; visual databases; image database; odometery data; particle filter based self-localization; position tracking; robot vision; vision-based self-localization; visual landmarks; Bayesian methods; Image databases; Monte Carlo methods; Motion estimation; Particle filters; Particle tracking; Probability distribution; Robot kinematics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-4808-1
Electronic_ISBN :
978-1-4244-4809-8
DOI :
10.1109/CIRA.2009.5423198
