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Abstract

This paper presents a real-time implementation of a topological localization method based on matching image features. This work is supported by a unique sensor pod design that provides stand-alone sensing and computing for localizing a vehicle on a previously traveled road. We report extensive field test results from outdoor environments, with the sensor pod mounted on both a small and a large all-terrain vehicle. Off-line analysis of the approach is also presented to evaluate the robustness of the various image features tested against different weather and lighting conditions.

Notes

Number of pages: 8

Text Reference

David Bradley, Rashmi Patel, Nicolas Vandapel, and Scott Thayer, "Real-time image-based topological localization in large outdoor environments," 2005 IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3670 - 3677.

BibTeX Reference

@inproceedings{Bradley_2005_5655,
   author = "David Bradley and Rashmi Patel and Nicolas Vandapel and Scott Thayer",
   title = "Real-time image-based topological localization in large outdoor environments",
   booktitle = "2005 IEEE International Conference on Intelligent Robots and Systems (IROS '05)",
   pages = "3670 - 3677",
   month = "August",
   year = "2005",
}

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