Title :
Visual topological mapping and localisation using colour histograms
Author :
Werner, Felix ; Sitte, Joaquin ; Maire, Frederic
Abstract :
In this paper we present a system for appearance-based topological mapping and localisation using vision data. The algorithms are designed for robots which are equipped with FPGA cameras. Such cameras do not provide the entire image to the robot but simple image features like colour histograms.
Keywords :
Monte Carlo methods; cameras; feature extraction; field programmable gate arrays; image colour analysis; mobile robots; path planning; robot vision; FPGA cameras; Monte-Carlo localisation strategy; colour histograms; image features; panoramic camera; robot exploration; visual topological localisation; visual topological mapping; Cameras; Computer vision; Field programmable gate arrays; Fingerprint recognition; Histograms; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; FPGA; Mobile robot; Monte-Carlo localisation; colour histogram; omni-vision; topological localisation; topological mapping;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795543
