Appearance-based localization for mobile robots using digital zoom and visual compass

Authors:
N. Bellotto;K. Burn;E. Fletcher;S. Wermter
Affiliations:
Human Centred Robotics Group, Department of Computer Science, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK;Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, St Peter's Way, Sunderland SR6 0DD, UK;Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, St Peter's Way, Sunderland SR6 0DD, UK;Centre for Hybrid Intelligent Systems, School of Computing and Technology, University of Sunderland, St Peter's Way, Sunderland SR6 0DD, UK
Venue:
Robotics and Autonomous Systems
Year:
2008

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Abstract

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach is demonstrated experimentally.