Vision based localisation for a mobile robot

Author

Gechter, F. ; Charpillet, Francois

Author_Institution

LORIA, Nancy I Univ.

fYear

2000

fDate

2000

Firstpage

229

Lastpage

236

Abstract

Presents a vision-based localisation system for a mobile robot that uses a representative set of images obtained during an initial exploration of the environment. This set of images makes it possible to represent the environment as a partially Markov decision process. The originality of this approach is the resulting data fusion process that uses both image matching and the decisions made by the robot in order to estimate the set of plausible positions of the robot and the associated probabilities. Image matching or recognition is achieved using principal components analysis

Keywords

Markov processes; image matching; image recognition; mobile robots; probability; robot vision; sensor fusion; data fusion; environment exploration; image matching; image recognition; mobile robot; partially Markov decision process; position estimation; principal components analysis; probabilities; representative image set; robot decisions; vision-based localisation system; Computational efficiency; Data mining; Feature extraction; Image matching; Image processing; Machine vision; Mobile robots; Principal component analysis; Robot vision systems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Tools with Artificial Intelligence, 2000. ICTAI 2000. Proceedings. 12th IEEE International Conference on

Conference_Location

Vancouver, BC

ISSN

1082-3409

Print_ISBN

0-7695-0909-6

Type

conf

DOI

10.1109/TAI.2000.889875

Filename

889875