Map Building and Localization of a Robot Using Omnidirectional Image Sequences
| Title | Map Building and Localization of a Robot Using Omnidirectional Image Sequences |
| Publication Type | Conference Proceedings |
| Year of Publication | 2007 |
| Authors | Vámossy, Z. |
| Conference Name | Applied Computational Intelligence and Informatics, 2007. SACI '07. 4th International Symposium on |
| Pagination | 191 -194 |
| Date Published | May |
| Conference Location | Timisoara, Romania |
| ISBN Number | 1-4244-1234-X |
| Keywords | appearance-based matching, classification strategies, global dynamic map, image classification, image matching, image sequences, map building, map localization, omnidirectional camera, omnidirectional image sequences, robot, robot vision |
| Abstract | The paper describes a map building module, where the image sequences of the omnidirectional camera are transformed into virtual top-view ones and melted into the global dynamic map. After learning the environment from training images, a current image is compared to the training set by appearance-based matching. Appropriate classification strategies yield an estimate of the robot's current position. |
| DOI | 10.1109/SACI.2007.375508 |