Particle filter based self-localization using visual landmarks and image database

Authors:
Wardah Inam
Affiliations:
Hamilton Institute, National University of Ireland, Maynooth, Kildare, Ireland
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

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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.