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Abstract

This paper presents a new appearance-based place recognition system for topological localization. The method uses a panoramic vision system to sense the environment. Color images are classified in real-time based on nearest-neighbor learning, image histogram matching, and a simple voting scheme. The system has been evaluated with eight cross-sequence tests in four unmodified environments, three indoors and one outdoors. In all eight cases, the system successfully tracked the mobile robot's position. The system correctly classified between 87% and 98% of the input color images. For the remaining images, the system was either momentarily confused or uncertain, but never classified an image incorrectly.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): CREATE: Community Robotics, Education and Technology Empowerment

Associated Project(s): Bookstore Project

Text Reference

Iwan Ulrich and Illah Nourbakhsh, "Appearance-Based Place Recognition for Topological Localization," Proceedings of ICRA 2000, April, 2000, pp. 1023 - 1029.

BibTeX Reference

@inproceedings{Ulrich_2000_3478,
   author = "Iwan Ulrich and Illah Nourbakhsh",
   title = "Appearance-Based Place Recognition for Topological Localization",
   booktitle = "Proceedings of ICRA 2000",
   pages = "1023 - 1029",
   month = "April",
   year = "2000",
   volume = "2",
}

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