DocumentCode
1633656
Title
Particle filter based self-localization using visual landmarks and image database
Author
Inam, Wardah
Author_Institution
Hamilton Inst., Nat. Univ. of Ireland, Maynooth, Ireland
fYear
2009
Firstpage
246
Lastpage
251
Abstract
This paper presents an approach to vision-based self-localization using the combination of particle filter and preprocessed image database. The robot uses particle filter with odometery data and landmark pose for position tracking. Furthermore, it uses the image database to globally localize itself when it has been kidnapped or when no landmark is visible.
Keywords
particle filtering (numerical methods); robot vision; tracking; visual databases; image database; odometery data; particle filter based self-localization; position tracking; robot vision; vision-based self-localization; visual landmarks; Bayesian methods; Image databases; Monte Carlo methods; Motion estimation; Particle filters; Particle tracking; Probability distribution; Robot kinematics; Robot sensing systems; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
Conference_Location
Daejeon
Print_ISBN
978-1-4244-4808-1
Electronic_ISBN
978-1-4244-4809-8
Type
conf
DOI
10.1109/CIRA.2009.5423198
Filename
5423198
Link To Document