Mobile robot localization under varying illumination
- 25 June 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10514651) , 741-744
- https://doi.org/10.1109/icpr.2002.1048409
Abstract
Methods for mobile robot localization that use eigenspaces of panoramic snapshots of the environment are in general sensitive to changes in the illumination of the environment. Therefore, we propose an approach which achieves a reliable localization under severe illumination conditions. The method uses gradient filtering of the eigenspace. After testing the approach on images obtained by a mobile robot, we show that it outperforms the standard eigenspace-based recognition method.Keywords
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