Rapid Biologically-Inspired Scene Classification Using Features Shared with Visual Attention
IEEE Transactions on Pattern Analysis and Machine Intelligence
From omnidirectional images to hierarchical localization
Robotics and Autonomous Systems
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
International Journal of Robotics Research
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
Metric embedding of view-graphs
Autonomous Robots
Automated avatar creation for 3D games
Future Play '07 Proceedings of the 2007 conference on Future Play
Novel indoor mobile robot navigation using monocular vision
Engineering Applications of Artificial Intelligence
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Mosaicking Cluttered Ground Planes Based on Stereo Vision
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
A Robust Localization Method for Mobile Robots Based on Ceiling Landmarks
MDAI '07 Proceedings of the 4th international conference on Modeling Decisions for Artificial Intelligence
Global Localization for the Mobile Robot Based on Natural Number Recognition in Corridor Environment
Neural Information Processing
THE SPATIAL SEMANTIC HIERARCHY IMPLEMENTED WITH AN OMNIDIRECTIONAL VISION SYSTEM
Cybernetics and Systems
Visual Navigation for Mobile Robots: A Survey
Journal of Intelligent and Robotic Systems
Localization and mapping of surveillance cameras in city map
MM '08 Proceedings of the 16th ACM international conference on Multimedia
A Robust Pose Estimation Algorithm for Mobile Robot Based on Clusters
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
A novel approach for salient image regions detection and description
Pattern Recognition Letters
Relocalization using virtual keyframes for online environment map construction
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Efficient data association for view based SLAM using connected dominating sets
Robotics and Autonomous Systems
Biologically inspired mobile robot vision localization
IEEE Transactions on Robotics
Robust and efficient feature tracking for indoor navigation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An autonomous mobile manipulator for assembly tasks
Autonomous Robots
An efficient parallel approach to random sample matching (pRANSAM)
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mobile robot vision-based navigation using self-organizing and incremental neural networks
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
SIFT, SURF & seasons: Appearance-based long-term localization in outdoor environments
Robotics and Autonomous Systems
Hierarchical appearance-based classifiers for qualitative spatial localization
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Alignment of visual maps in multirobot FastSLAM
CIMMACS'09 Proceedings of the 8th WSEAS International Conference on Computational intelligence, man-machine systems and cybernetics
Augmented galaga on mobile devices
Edutainment'07 Proceedings of the 2nd international conference on Technologies for e-learning and digital entertainment
A quick scale-invariant interest point detecting approach
Machine Vision and Applications
A slope K method for image based localization
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Approximate robotic mapping from sonar data by modeling perceptions with antonyms
Information Sciences: an International Journal
Multi-robot map alignment in visual SLAM
WSEAS TRANSACTIONS on SYSTEMS
Map fusion in an independent multi-robot approach
WSEAS TRANSACTIONS on SYSTEMS
Temporal synchronization of non-overlapping videos using known object motion
Pattern Recognition Letters
Three 2D-warping schemes for visual robot navigation
Autonomous Robots
Proceedings of the international conference on Multimedia
Unnecessary image pair detection for a large scale reconstruction
ICEC'10 Proceedings of the 9th international conference on Entertainment computing
Unguided robot navigation using continuous action space
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part III
How to overcome perceptual aliasing in ASIFT?
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
Loop-closing: A typicality approach
Robotics and Autonomous Systems
Online probabilistic topological mapping
International Journal of Robotics Research
Towards multi-robot independent visual SLAM
ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume I
A multi-robot exploration algorithm based on a static Bluetooth communication chain
Robotics and Autonomous Systems
Real-time camera tracking using a global localization scheme
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Determining an initial image pair for fixing the scale of a 3d reconstruction from an image sequence
DAGM'06 Proceedings of the 28th conference on Pattern Recognition
RFID-based location-sensing system for safety management
Personal and Ubiquitous Computing
Robotics and Autonomous Systems
Journal of Parallel and Distributed Computing
Fast and scalable approximate spectral graph matching for correspondence problems
Information Sciences: an International Journal
Task-oriented navigation algorithms for an outdoor environment with colored borders and obstacles
Intelligent Service Robotics
Bubble space and place representation in topological maps
International Journal of Robotics Research
A Multisensor Architecture Providing Location-based Services for Smartphones
Mobile Networks and Applications
Robust Kinect-based guidance and positioning of a multidirectional robot by Log-ab recognition
Expert Systems with Applications: An International Journal
Kullback-Leibler divergence-based global localization for mobile robots
Robotics and Autonomous Systems
Motion planning for maintaining landmarks visibility with a differential drive robot
Robotics and Autonomous Systems
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We have previously developed a mobile robot system which uses scale-invariant visual landmarks to localize and simultaneously build three-dimensional (3-D) maps of unmodified environments. In this paper, we examine global localization, where the robot localizes itself globally, without any prior location estimate. This is achieved by matching distinctive visual landmarks in the current frame to a database map. A Hough transform approach and a RANSAC approach for global localization are compared, showing that RANSAC is much more efficient for matching specific features, but much worse for matching nonspecific features. Moreover, robust global localization can be achieved by matching a small submap of the local region built from multiple frames. This submap alignment algorithm for global localization can be applied to map building, which can be regarded as alignment of multiple 3-D submaps. A global minimization procedure is carried out using the loop closure constraint to avoid the effects of slippage and drift accumulation. Landmark uncertainty is taken into account in the submap alignment and the global minimization process. Experiments show that global localization can be achieved accurately using the scale-invariant landmarks. Our approach of pairwise submap alignment with backward correction in a consistent manner produces a better global 3-D map.