Design of a simultaneous mobile robot localization and spatial context recognition system

Authors:
Seungdo Jeong;Jonglyul Chung;Sanghoon Lee;Il Hong Suh;Byunguk Choi
Affiliations:
Department of Electrical and Computer Engineering, Hanyang University, Seoul, Korea;Department of Electrical and Computer Engineering, Hanyang University, Seoul, Korea;Department of Electrical and Computer Engineering, Hanyang University, Seoul, Korea;School of Information and Communications, Hanyang University, Seoul, Korea;School of Information and Communications, Hanyang University, Seoul, Korea
Venue:
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part III
Year:
2005

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Abstract

In this work, we propose a simultaneous mobile robot localization and spatial context recognition system. The Harris corner detector and pyramid Lucas-Kanade optical flow are combined for robot localization. And, SIFT keypoints and its descriptors for the model-based object recognition and stereo vision technique are applied to spatial context recognition. The effectiveness of our proposed method is verified by experiments.