NDLI: Biologically Inspired Mobile Robot Vision Localization

Content Provider	IEEE Xplore Digital Library
Author	Siagian, C. Itti, L.
Copyright Year	2004
Abstract	We present a robot localization system using biologically inspired vision. Our system models two extensively studied human visual capabilities: (1) extracting the ldquogistrdquo of a scene to produce a coarse localization hypothesis and (2) refining it by locating salient landmark points in the scene. Gist is computed here as a holistic statistical signature of the image, thereby yielding abstract scene classification and layout. Saliency is computed as a measure of interest at every image location, which efficiently directs the time-consuming landmark-identification process toward the most likely candidate locations in the image. The gist features and salient regions are then further processed using a Monte Carlo localization algorithm to allow the robot to generate its position. We test the system in three different outdoor environments-building complex (38.4 m times 54.86 m area, 13 966 testing images), vegetation-filled park (82.3 m times 109.73 m area, 26 397 testing images), and open-field park (137.16 m times 178.31 m area, 34 711 testing images)-each with its own challenges. The system is able to localize, on average, within 0.98, 2.63, and 3.46 m, respectively, even with multiple kidnapped-robot instances.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	861
Ending Page	873
Page Count	13
File Size	1486023
File Format	PDF
ISSN	15523098
Volume Number	25
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Layout System testing Humans Intelligent sensors Global Positioning System Robot localization Neuroscience Image recognition Robustness scene recognition Computational neuroscience gist of a scene image classification image statistics landmark recognition robot localization robot vision saliency
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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