NDLI: Robust vision-based localization for mobile robots using an image retrieval system based on invariant features

Content Provider	IEEE Xplore Digital Library
Author	Wolf, J. Burgard, W. Burkhardt, H.
Copyright Year	2002
Description	Author affiliation: Dept. of Comput. Sci., Hamburg Univ., Germany (Wolf, J.)
Abstract	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, rotations, and limited scale. Using the local features the system is robust against distortion and occlusions, which is especially important in populated environments. By using the sample-based Monte-Carlo localization technique our robot is able to globally localize itself to reliably keep tracking of its position, and to recover from localization failures. Both techniques are combined by extracting for each image a set of possible view-points using a two-dimensional map of the environment. Our technique was implemented and tested extensively. We present several experiments demonstrating the reliability and robustness of our approach even in the context of dynamics in the environment and larger errors in the odometry.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	359
Ending Page	365
File Size	1176310
Page Count	7
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013387
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Mobile robots Image retrieval Robot sensing systems Sensor systems Acoustic sensors Robot vision systems Computer science Cameras Data mining
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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