Title :
Large scale visual localization in urban environments
Author :
Achar, Supreeth ; Jawahar, C.V. ; Krishna, K. Madhava
Author_Institution :
RI, CMU, Hyderabad, India
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;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979925
