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Appearance-based localization for mobile robots using digital zoom and visual compass

By Nicola Bellotto, Kevin Burn, Eric Fletcher and Stefan Wermter

Abstract

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally

Topics: H671 Robotics
Publisher: Elsevier
Year: 2008
DOI identifier: 10.1016/j.robot.2007.07.001
OAI identifier: oai:eprints.lincoln.ac.uk:2103

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