LSRII feature based particle filter localization for mobile robot

Author

Zhao, Fengda ; Kong, Lingfu ; Li, Xianshan

Author_Institution

Coll. of Inf. Sci. & Eng., Yanshan Univ., Qinhuangdao

fYear

2008

fDate

25-27 June 2008

Firstpage

2350

Lastpage

2354

Abstract

To improve the localization capability of the mobile robot in a crowded and unorderly indoor environment, an approach for extracting LSRII (Local Salient Region Integral Invariant) features is proposed. The approach extracts integral invariant features in salient regions in an image. The global localization is achieved by applying LSRII features in particle filter localization. The practical experiments illustrate that our approach is reliable in a crowded and unorderly indoor environment.

Keywords

feature extraction; mobile robots; particle filtering (numerical methods); LSRII feature; integral invariant features; local salient region integral invariant; mobile robot; particle filter localization; salient regions; unorderly indoor environment; Data mining; Density measurement; Extraterrestrial measurements; Feature extraction; Indoor environments; Intelligent control; Mobile robots; Particle filters; Position measurement; Robot sensing systems; LSRII feature; kernel function; particle filter localization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593290

Filename

4593290