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Abstract

This paper presents a mobile robot localizer that detects topological transitions using a color vision-based classification system. After a two-step training process, the localization system is shown to achieve sufficient reliability to track the position of a mobile robot across two floors of an office building using purely discrete (non-probabilistic) update. Experimental results are based on an off-the-shelf electric wheelchair fitted with a parabolic color camera.

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

Dandapani Radhakrishnan and Illah Nourbakhsh, "Topological Localization by Training a Vision-based Transition Detector," Proceedings of IROS 1999, October, 1999, pp. 468 - 473.

BibTeX Reference

@inproceedings{Nourbakhsh_1999_3480,
   author = "Dandapani Radhakrishnan and Illah Nourbakhsh",
   title = "Topological Localization by Training a Vision-based Transition Detector",
   booktitle = "Proceedings of IROS 1999",
   pages = "468 - 473",
   month = "October",
   year = "1999",
   volume = "1",
}

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