Title :
A study of mobile robot localization using omnidirectional images
Author :
Sasaki, Yuya ; Ishii, Masaki
Author_Institution :
Dept. of Machine Intell. & Syst. Eng., Akita Prefectural Univ., Akita, Japan
Abstract :
In this study, we investigated mobile robot localization, which is necessary for an autonomous mobile robot. Specifically, mobile robot localization was studied using image information obtained from an omnidirectional camera, which is a camera with a 360-degree field of view. A robot learns omnidirectional images using self-organizing maps (SOM), and it generates a Localization Classifier. Thus, we verified effectiveness of the Localization Classifier for mobile robot localization.
Keywords :
SLAM (robots); cameras; image classification; learning (artificial intelligence); mobile robots; robot vision; self-organising feature maps; SOM; autonomous mobile robot; image information; localization classifier; mobile robot localization; omnidirectional camera; omnidirectional images; robot learning; self-organizing maps; Cameras; Feature extraction; Image resolution; Mobile robots; Robot vision systems; Visualization; Bag of Visual Words; Localization Classifier; Omnidirectional Image; SOM; SURF;
Conference_Titel :
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location :
Akita
Print_ISBN :
978-1-4673-2259-1
