DocumentCode :
3092572
Title :
Estimating landmark locations from geo-referenced photographs
Author :
Kretzschmar, Henrik ; Stachniss, Cyrill ; Plagemann, Christian ; Burgard, Wolfram
Author_Institution :
Dept. of Comput. Sci., Univ. of Freiburg, Freiburg
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
2902
Lastpage :
2907
Abstract :
The problem of estimating the positions of landmarks using a mobile robot equipped with a camera has intensively been studied in the past. In this paper, we consider a variant of this problem in which the robot should estimate the locations of observed landmarks based on a sparse set of geo-referenced images for which no heading information is available. Sources for such kind of data are image portals such as Flickr or Google Image Search. We formulate the problem of estimating the landmark locations as an optimization problem and show that it is possible to accurately localize the landmarks in real world settings.
Keywords :
cartography; mobile robots; path planning; geo-referenced images; geo-referenced photographs; image portals; landmark locations; mobile robot; Buildings; Cameras; Cities and towns; Convergence; Global positioning system; Optimization; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4650855
Filename :
4650855
Link To Document :
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