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Map Building and Localization of a Robot Using Omnidirectional Image Sequences

CímMap Building and Localization of a Robot Using Omnidirectional Image Sequences
Közlemény típusaConference Proceedings
Kiadás éve2007
SzerzőkVámossy, Z.
Konferencia neveApplied Computational Intelligence and Informatics, 2007. SACI '07. 4th International Symposium on
Oldalszám191 -194
Kiadás dátumaMay
Konferencia helyszíneTimisoara, Romania
ISBN-szám1-4244-1234-X
Kulcsszavakappearance-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
Összefoglalás

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.
DOI10.1109/SACI.2007.375508