Title :
Omnidirectional Image Matching for Vision-Based Robot Localization
Author :
Saedan, Mana ; Lim, Chee Wang ; Ang, Marcelo H., Jr.
Author_Institution :
Dept. of Mech. Eng., National Univ. of Singapore
Abstract :
The new approach to utilize information from an omnidirectional image is presented in this paper. We describe the integration between the image matching and the Monte-Carlo localization that can be implemented in a large indoor environment. The robot is able to localize with reasonable accuracy despite no metric measurements from the image. Furthermore, the algorithm can recover quickly from localizing a robot at a wrong place
Keywords :
Monte Carlo methods; image matching; robot vision; Monte-Carlo localization; omnidirectional image matching; vision-based robot localization; Feature extraction; Image databases; Image matching; Indoor environments; Machine vision; Navigation; Robot localization; Robot sensing systems; Robot vision systems; Spatial databases;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252489
