Appearance based robotics
- 27 February 2006
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics & Automation Magazine
- Vol. 13 (1) , 59-68
- https://doi.org/10.1109/mra.2006.1598054
Abstract
Robot localization has been recognized as one of the most fundamental problems in mobile robotics. Localization can be defined as the problem of determining the position of a robot. More precisely, the aim of localization is to estimate the position of a robot in its environment, given local sensorial data. This information is essential for a broad range of mobile robots tasks; in particular, the robot behavior may depend on its position. This article presents a novel and efficient metric for appearance based robot localization. This metric is integrated in a framework that uses a partially observable Markov decision process as position evaluator, thus allowing good results even in partially explored environments and in highly perceptually aliased indoor scenarios.Keywords
This publication has 14 references indexed in Scilit:
- Topological mobile robot localization using fast vision techniquesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Learning visual landmarks for pose estimationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Appearance-based place recognition for topological localizationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Using an Image Retrieval System for Vision-Based Mobile Robot LocalizationPublished by Springer Nature ,2002
- Robust Monte Carlo localization for mobile robotsArtificial Intelligence, 2001
- PCA versus LDAPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2001
- Appearance-based visual learning and object recognition with illumination invarianceMachine Vision and Applications, 2000
- Vision-based navigation and environmental representations with an omnidirectional cameraIEEE Transactions on Robotics and Automation, 2000
- Geometrical matching for mobile robot localizationIEEE Transactions on Robotics and Automation, 2000
- Retrieving images by similarity of visual appearancePublished by Institute of Electrical and Electronics Engineers (IEEE) ,1997