Title :
Mobile robot localization by matching 2D image features to 3D point cloud
Author :
Hyongjin Kim ; Taekjun Oh ; Donghwa Lee ; Yungeun Choe ; Myung Jin Chung ; Hyun Myung
Author_Institution :
Urban Robot. Lab., KAIST, Daejeon, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
In this paper we describe a method for solving a mobile robot localization problem using prior data. By matching 2D image features to a 3D point cloud, the robot position is estimated in the prior point cloud. We prove our method by testing at specific locations over the whole point clod data.
Keywords :
image matching; mobile robots; robot vision; 2D image feature matching; 3D point cloud; mobile robot localization; robot position estimation; 3D Point Cloud; Autonomous Mobile Robot; Feature Matching; Localization;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677364
