DocumentCode
2693364
Title
Large scale visual localization in urban environments
Author
Achar, Supreeth ; Jawahar, C.V. ; Krishna, K. Madhava
Author_Institution
RI, CMU, Hyderabad, India
fYear
2011
fDate
9-13 May 2011
Firstpage
5642
Lastpage
5648
Abstract
This paper introduces a vision based localization method for large scale urban environments. The method is based upon Bag-of-Words image retrieval techniques and handles problems that arise in urban environments due to repetitive scene structure and the presence of dynamic objects like vehicles. The localization system was experimentally verified it localization experiments along a 5km long path in an urban environment.
Keywords
computer vision; mobile robots; natural scenes; pose estimation; town and country planning; bag-of-words image retrieval technique; dynamic object; repetitive scene structure; urban environment; vision based localization method; Cameras; Databases; Feature extraction; Robot vision systems; Visualization; Vocabulary;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979925
Filename
5979925
Link To Document