Title :
Mobile robot self-localization based on global visual appearance features
Author :
Zhou, Chao ; Wei, Yucheng ; Tan, Tieniu
Author_Institution :
Nat. Lab. of Pattern Recognition, Chinese Acad. of Sci., Beijing, China
Abstract :
The paper presents a novel method for mobile robot localization using visual appearance features. A multidimensional histogram is used to describe the global appearance features of an image such as colors, edge density, gradient magnitude, textures and so on. The matching of histograms determines the location of the robot. The method has been evaluated in an indoor environment, and the system correctly determines the location of 82.9% of the input scene images.
Keywords :
edge detection; feature extraction; image colour analysis; mobile robots; robot vision; edge density; global visual appearance features; gradient magnitude; indoor environment; mobile robot self-localization; multidimensional histogram; Charge-coupled image sensors; Histograms; Image databases; Image processing; Image recognition; Image segmentation; Intelligent robots; Layout; Mobile robots; Spatial databases;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241767
