Title :
Comparing global measures of image similarity for use in topological localization of mobile robots
Author :
Ferdaus, Syeda Nusrat ; Vardy, Andrew ; Mann, George ; Gosine, Ray
Author_Institution :
Intell. Syst. Lab., Memorial Univ. of Newfoundland, St. John, NL
Abstract :
In this paper, two global measures of image similarity are compared for use in topological localization of mobile robots. A catadioptric vision system was used as the sensor. Our localization system employs a discrete Bayes filter. Experimental results with real images of an office environment indicate the robot can localize itself from the memorized training images even with the modification of the environment.
Keywords :
Bayes methods; filtering theory; mobile robots; path planning; robot vision; catadioptric vision system; discrete Bayes filter; image similarity; mobile robot; office environment; real image; sensor; topological localization; Cameras; Filters; Fourier transforms; Histograms; Intelligent sensors; Intelligent systems; Mobile robots; Robot sensing systems; Robot vision systems; Robustness; Bayes filter; Localization; mobile robot; omnidirectional images;
Conference_Titel :
Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-1642-4
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2008.4564669
