Title :
Combining Monocular and Stereo Cues for Mobile Robot Localization Using Visual Words
Author :
Fraundorfer, Friedrich ; Changchang Wu ; Pollefeys, Marc
Author_Institution :
Dept. of Comput. Sci., ETH Zurich, Zurich, Switzerland
Abstract :
This paper describes an approach for mobile robot localization using a visual word based place recognition approach. In our approach we exploit the benefits of a stereo camera system for place recognition. Visual words computed from SIFT features are combined with VIP (viewpoint invariant patches) features that use depth information from the stereo setup. The approach was evaluated under the ImageCLEF@ICPR 2010 competition. The results achieved on the competition datasets are published in this paper.
Keywords :
mobile robots; robot vision; stereo image processing; ImageCLEF@ICPR 2010 competition; SIFT features; mobile robot localization; monocular cues; place recognition; stereo camera system; stereo cues; viewpoint invariant patches features; visual words; Feature extraction; Geometry; Robots; Testing; Three dimensional displays; Training; Visualization; ImageCLEF; robot localization; visual localization;
Conference_Titel :
Pattern Recognition (ICPR), 2010 20th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-7542-1
DOI :
10.1109/ICPR.2010.955
