Self-Localization is a crucial task for mobile robots. It is not only a requirement

for auto navigation but also provides contextual information to support

human robot interaction (HRI). In this paper we present an active vision-based

localization method for integration in a complex robot system to work in human

interaction scenarios (e.g. home-tour) in a real world apartment. The holistic

features used are robust to illumination and structural changes in the scene. The

system uses only a single pan-tilt camera shared between different vision applications

running in parallel to reduce the number of sensors. Additional information

from other modalities (like laser scanners) can be used, profiting of an integration

into an existing system. The camera view can be actively adapted and the

evaluation showed that different rooms can be discerned

Hanheide, Marc

Schubert, Falk

Spexard, Thorsten P.

Wachsmuth, Sven

English

Self-Localization is a crucial task for mobile robots. It is not only a requirement for auto navigation but also provides contextual information to support human robot interaction (HRI). In this paper we present an active vision-based localization method for integration in a complex robot system to work in human interaction scenarios (e.g. _home-tour_) in a real world apartment. The holistic features used are robust to illumination and structural changes in the scene. The system uses only a single pan-tilt camera shared between different vision applications running in parallel to reduce the number of sensors. Additional information from other modalities (like laser scanners) can be used, profiting of an integration into an existing system. The camera view can be actively adapted and the evaluation showed that different rooms can be discerned

Spexard, Thorsten

BieColl - Bielefeld Electronic Collections

German

Active Vision-based Localization For Robots In A Home-Tour Scenario

Abstract. Self-Localization is a crucial task for mobile robots. It is not only a re-quirement for auto navigation but also provides contextual information to support human robot interaction (HRI). In this paper we present an active vision-based localization method for integration in a complex robot system to work in hu-man interaction scenarios (e.g. home-tour) in a real world apartment. The holistic features used are robust to illumination and structural changes in the scene. The system uses only a single pan-tilt camera shared between different vision applica-tions running in parallel to reduce the number of sensors. Additional information from other modalities (like laser scanners) can be used, profiting of an integra-tion into an existing system. The camera view can be actively adapted and the evaluation showed that different rooms can be discerned. 

Falk Schubert

Thorsten Spexard

Marc Hanheide

Sven Wachsmuth

CiteSeerX

BieColl - Bielefeld eCollections

Schubert F, Spexard T, Hanheide M, Wachsmuth S. Active Vision-based Localization For Robots In A Home-Tour Scenario. In:  Proceedings of the 5th International Conference on Computer Vision Systems (ICVS 2007). Bielefeld: Bielefeld University;  2007.Self-Localization is a crucial task for mobile robots. It is not only a requirement for auto navigation but also provides contextual information to support human robot interaction (HRI). In this paper we present an active vision-based localization method for integration in a complex robot system to work in human interaction scenarios (e.g. home-tour) in a real world apartment. The holistic features used are robust to illumination and structural changes in the scene. The system uses only a single pan-tilt camera shared between different vision applications running in parallel to reduce the number of sensors. Additional information from other modalities (like laser scanners) can be used, profiting of an integration into an existing system. The camera view can be actively adapted and the evaluation showed that different rooms can be discerned

Wachsmuth, Sven 

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http://eprints.lincoln.ac.uk/6939/1/Schubert2007-Active_Vision-based_Localization_For_Robots_In_A_Home-Tour_Scenario.pdf

Active vision-based localization for robots in a home-tour scenario

Active vision-based localization for robots in a home-tour scenario

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