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RI | Publications | Appearance-Based Place Recognition for Topological Localization
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Text only version of this site
Appearance-Based Place Recognition for Topological Localization
I. Ulrich and I. Nourbakhsh
Proceedings of ICRA 2000, Vol. 2, April, 2000, pp. 1023 - 1029.
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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: VASC
Associated lab/group: CREATE: Community Robotics, Education and Technology Empowerment
Associated project: Bookstore Project
| Text Reference |
I. Ulrich and I. Nourbakhsh, "Appearance-Based Place Recognition for Topological Localization," Proceedings of ICRA 2000, Vol. 2, 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",
month = "April",
year = "2000",
volume = "2",
pages = "1023 - 1029"
}