Title :
A method for discrete self-localization using image analysis
Author :
Kasprzak, Wkodzimierz ; Szynkiewiez, W.
Author_Institution :
Inst. of Control & Comput. Eng, Warsaw Univ. of Technol., Poland
Abstract :
A method for discrete self-localization of an autonomous mobile system was proposed. One of its many possible implementations was designed, that uses a camera subsystem, which delivers sensor information about the environment reduced to an n-elementary measurement vector. Three different algorithms of image analysis were proposed and implemented. The self-localization approach with three different image sub-systems was tested by computer simulations on different natural and synthetic scenes.
Keywords :
feature extraction; mobile robots; path planning; robot vision; state estimation; statistics; autonomous mobile system; camera subsystem; discrete self-localization; discrete state estimation; image analysis; image feature detection; natural scenes; state condensation; synthetic scenes; Automatic testing; Cameras; Image analysis; Image sequence analysis; Layout; Mobile computing; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177134
