DocumentCode
575435
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
fYear
2012
fDate
20-23 Aug. 2012
Firstpage
1035
Lastpage
1039
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location
Akita
ISSN
pending
Print_ISBN
978-1-4673-2259-1
Type
conf
Filename
6318595
Link To Document