Title :
Natural landmark based localisation system using panoramic images
Author :
Yuen, David C K ; MacDonald, Bruce A.
Author_Institution :
Dept. of Electr. & Electron. Eng., Auckland Univ., New Zealand
Abstract :
A panoramic image based localisation system has been implemented on a B21r mobile robot and tested in a heavily cluttered environment. It takes vertical object edges as natural landmarks and extracts a one-dimensional token sequence from the input image before matching with reference image sequences. Matched points are then triangulated to give a set of position estimates, and the best result is taken as the current robot position. Selection criteria and methods for the reference image sites are also discussed, including the use of generalised Voronoi vertices.
Keywords :
image colour analysis; image matching; image sequences; mobile robots; path planning; position measurement; robot vision; B21r mobile robot; generalised Voronoi vertices; heavily cluttered environment; natural landmark based localisation system; one-dimensional token sequence; panoramic images; position estimates; reference image sequences; triangulation; vertical object edges; Cameras; Image sequences; Impedance matching; Lenses; Mobile robots; Rendering (computer graphics); Robot vision systems; Spatial resolution; System testing; Time factors;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013473
