Appearance-based place recognition for topological localization
Top Cited Papers
- 7 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 1023-1029
- https://doi.org/10.1109/robot.2000.844734
Abstract
This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme. The system has been evaluated with eight cross-sequence tests in four unmodified environments, three indoors and one outdoors. In all eight cases, the system successfully tracked the mobile robot's position. The system correctly classified between 87% and 98% of the input color images. For the remaining images, the system was either momentarily confused or uncertain, but never classified an image incorrectly.Keywords
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