Title :
Template matching localization for GPS denied environments
Author :
Rowe, S. ; Mahal, P. ; Burkowski, L. ; Beach, G. ; Cohen, C.J.
Abstract :
This paper describes our solution to LADAR based robot localization in a GPS denied environment where there is only one consistent feature. We detail the type of data received, how we define a doorway and gap, the line extraction method, and doorway template matching with simulated annealing solution.
Keywords :
SLAM (robots); feature extraction; image matching; mobile robots; optical radar; simulated annealing; GPS denied environment; LADAR based robot localization; consistent feature; line extraction method; simulated annealing solution; template matching localization; GPS denied; LADAR; doors; line extraction; simulated annealing; template matching;
Conference_Titel :
Applied Imagery Pattern Recognition Workshop (AIPR), 2012 IEEE
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4673-4558-3
DOI :
10.1109/AIPR.2012.6528208
