Title :
Image-based localization using prior map database and Monte Carlo Localization
Author :
Hyongjin Kim ; Taekjun Oh ; Donghwa Lee ; Hyun Myung
Author_Institution :
Dept. of Civil & Environ. Eng., KAIST, Daejeon, South Korea
Abstract :
The aim of this paper is to propose an image and map data-based localization method applicable to a variety of environments. For the localization, we use prior map database, image-based localization method, and MCL (Monte Carlo Localization). The results were confirmed by open data set in a variety of environments. The experimental results show the feasibility of the proposed method for the robot localization.
Keywords :
Monte Carlo methods; robot vision; MCL; Monte Carlo localization; image-based localization method; map data-based localization method; prior map database; robot localization; Cameras; Databases; Estimation; Feature extraction; Robot localization; Three-dimensional displays; Image Feature; Image-based Localization; MCL; Prior Map Database;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057440
