Mobile Robot Localization from Large Scale Appearance Mosaics

Alonzo Kelly
tech. report CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000


Abstract
A new practical, high-performance mobile robot localization technique is described which is motivated by the fact that many man-made environments contain substantially flat, visually textured surfaces of persistent appearance. While the tracking of image regions is much studied in computer vision, appearance is still a largely unexploited localization resource in commercially relevant guidance applications. We show how prior appearance models can be used to enable highly repeatable mobile robot guidance that, unlike commercial alternatives, is both infrastructure-free and free-ranging. Very large scale mosaics are constructed and used to localize a mobile robot operating in the modeled environment. Straightforward techniques from vision-based localization and mosaicking are used to produce a field-relevant AGV guidance system based only on vision and odometry. The feasibility, design, implementation, and pre-commercial field qualification of such a guidance system are described.

Notes
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): Material Transport

Text Reference
Alonzo Kelly, "Mobile Robot Localization from Large Scale Appearance Mosaics," tech. report CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000

BibTeX Reference
@techreport{Kelly_2000_3611,
   author = "Alonzo Kelly",
   title = "Mobile Robot Localization from Large Scale Appearance Mosaics",
   booktitle = "",
   institution = "Robotics Institute",
   month = "December",
   year = "2000",
   number= "CMU-RI-TR-00-21",
   address= "Pittsburgh, PA",
}