DocumentCode
3143906
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
fYear
2002
fDate
9-11 Nov. 2002
Firstpage
369
Lastpage
374
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN
83-7143-429-4
Type
conf
DOI
10.1109/ROMOCO.2002.1177134
Filename
1177134
Link To Document