NDLI: Odometry-driven inference to link multiple exemplars of a location

Content Provider	IEEE Xplore Digital Library
Author	Lowry, S. Wyeth, G. Milford, M.
Copyright Year	2013
Description	Author affiliation: Sch. of Electr. Eng. & Comput. Sci., Queensland Univ. of Technol., Brisbane, QLD, Australia (Lowry, S.; Wyeth, G.; Milford, M.)
Abstract	A major challenge for robot localization and mapping systems is maintaining reliable operation in a changing environment. Vision-based systems in particular are susceptible to changes in illumination and weather, and the same location at another time of day may appear radically different to a system using a feature-based visual localization system. One approach for mapping changing environments is to create and maintain maps that contain multiple representations of each physical location in a topological framework or manifold. However, this requires the system to be able to correctly link two or more appearance representations to the same spatial location, even though the representations may appear quite dissimilar. This paper proposes a method of linking visual representations from the same location without requiring a visual match, thereby allowing vision-based localization systems to create multiple appearance representations of physical locations. The most likely position on the robot path is determined using particle filter methods based on dead reckoning data and recent visual loop closures. In order to avoid erroneous loop closures, the odometry-based inferences are only accepted when the inferred path's end point is confirmed as correct by the visual matching system. Algorithm performance is demonstrated using an indoor robot dataset and a large outdoor camera dataset.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	534
Ending Page	539
File Size	1373116
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696403
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Simultaneous localization and mapping Joining processes Particle filters Cameras Dead reckoning
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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
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