DocumentCode
2512661
Title
Combining Monocular and Stereo Cues for Mobile Robot Localization Using Visual Words
Author
Fraundorfer, Friedrich ; Changchang Wu ; Pollefeys, Marc
Author_Institution
Dept. of Comput. Sci., ETH Zurich, Zurich, Switzerland
fYear
2010
fDate
23-26 Aug. 2010
Firstpage
3927
Lastpage
3930
Abstract
This paper describes an approach for mobile robot localization using a visual word based place recognition approach. In our approach we exploit the benefits of a stereo camera system for place recognition. Visual words computed from SIFT features are combined with VIP (viewpoint invariant patches) features that use depth information from the stereo setup. The approach was evaluated under the ImageCLEF@ICPR 2010 competition. The results achieved on the competition datasets are published in this paper.
Keywords
mobile robots; robot vision; stereo image processing; ImageCLEF@ICPR 2010 competition; SIFT features; mobile robot localization; monocular cues; place recognition; stereo camera system; stereo cues; viewpoint invariant patches features; visual words; Feature extraction; Geometry; Robots; Testing; Three dimensional displays; Training; Visualization; ImageCLEF; robot localization; visual localization;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition (ICPR), 2010 20th International Conference on
Conference_Location
Istanbul
ISSN
1051-4651
Print_ISBN
978-1-4244-7542-1
Type
conf
DOI
10.1109/ICPR.2010.955
Filename
5597674
Link To Document