Self-localization in non-stationary environments using omni-directional vision
Robotics and Autonomous Systems
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Robotics and Autonomous Systems
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Toward Image-Based Localization for AIBO Using Wavelet Transform
AI*IA '07 Proceedings of the 10th Congress of the Italian Association for Artificial Intelligence on AI*IA 2007: Artificial Intelligence and Human-Oriented Computing
RoboCup 2007: Robot Soccer World Cup XI
The perception loop in CiceRobot, a museum guide robot
Neurocomputing
Global indoor self-localization based on the ambient magnetic field
Robotics and Autonomous Systems
Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers
International Journal of Robotics Research
A realistic benchmark for visual indoor place recognition
Robotics and Autonomous Systems
A Bag of Features Approach for 3D Shape Retrieval
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
LSH-RANSAC: an incremental scheme for scalable localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A global self-localization technique utilizing local anomalies of the ambient magnetic field
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Swarm-supported outdoor localization with sparse visual data
Robotics and Autonomous Systems
Efficient camera-based pose estimation for real-time applications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Omnivision-based KLD-Monte Carlo Localization
Robotics and Autonomous Systems
Image and Vision Computing
Particle filter based self-localization using visual landmarks and image database
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Image similarity based on Discrete Wavelet Transform for robots with low-computational resources
Robotics and Autonomous Systems
Two novel real-time local visual features for omnidirectional vision
Pattern Recognition
Online and Incremental Appearance-based SLAM in Highly Dynamic Environments
International Journal of Robotics Research
A global localization approach based on Line-segment Relation Matching technique
Robotics and Autonomous Systems
Dual-sensor fusion for indoor user localisation
MM '11 Proceedings of the 19th ACM international conference on Multimedia
On accurate localization and uncertain sensors
International Journal of Intelligent Systems
Bubble space and place representation in topological maps
International Journal of Robotics Research
Multi-observation sensor resetting localization with ambiguous landmarks
Autonomous Robots
A MapReduce-based indoor visual localization system using affine invariant features
Computers and Electrical Engineering
Robotics and Autonomous Systems
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In this paper, we present a vision-based approach to mobile robot localization that integrates an image-retrieval system with Monte Carlo localization. The image-retrieval process is based on features that are invariant with respect to image translations and limited scale. Since it furthermore uses local features, the system is robust against distortion and occlusions, which is especially important in populated environments. To integrate this approach with the sample-based Monte Carlo localization technique, we extract for each image in the database a set of possible viewpoints using a two-dimensional map of the environment. Our technique has been implemented and tested extensively. We present practical experiments illustrating that our approach is able to globally localize a mobile robot, to reliably keep track of the robot's position, and to recover from localization failures. We furthermore present experiments designed to analyze the reliability and robustness of our approach with respect to larger errors in the odometry.