Deriving and matching image fingerprint sequences for mobile robot localization

Author

Lamon, Pierre ; Nourbakhsh, Illah ; Jensen, Björn ; Siegwart, Roland

Author_Institution

Swiss Federal Inst. of Technol., Lausanne, Switzerland

Volume

2

fYear

2001

fDate

2001

Firstpage

1609

Abstract

Proposes a method for creating unique identifiers, called fingerprint sequences, for visually distinct locations by recovering statistically significant features in panoramic color images. Fingerprint sequences are expressive enough for mobile robot localization, as demonstrated using a minimum energy sequence-matching algorithm that is described. Empirical results in two different places demonstrate the reliability of the system for global localization on a Nomad Scout mobile robot.

Keywords

CCD image sensors; edge detection; feature extraction; fuzzy set theory; image colour analysis; image matching; image sequences; mobile robots; path planning; robot vision; string matching; Nomad Scout mobile robot; global localization; image fingerprint sequences; minimum energy sequence-matching algorithm; mobile robot localization; panoramic color images; Cameras; Charge coupled devices; Charge-coupled image sensors; Computer vision; Detectors; Fingerprint recognition; Image edge detection; Mobile robots; Navigation; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932841

Filename

932841