Visual and laser guided robot relocalization using lines, Hough transformation and machine learning techniques

This paper describes a new approach for building 3D geometric maps using a laser rangefinder, a stereo camera system and a mathematical system the conformal geometric algebra. The use of a known visual landmarks in the map helps to carry out a good localization of the robot. These landmarks are found using the Viola and Jones algorithm and are represented with their position in the 3D virtual map. This landmarks help in the relocalization of a robot in a previously captured environment. This machine learning technique is used for recognition of objects in the environment.