Graphics enhanced version of this site

Topological Localization by Training a Vision-based Transition Detector
D. Radhakrishnan and I. Nourbakhsh
Proceedings of IROS 1999, Vol. 1, October, 1999, pp. 468 - 473.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [1327 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Associated center: VASC
Associated lab/group: CREATE: Community Robotics, Education and Technology Empowerment
Associated project: Bookstore Project

D. Radhakrishnan and I. Nourbakhsh, "Topological Localization by Training a Vision-based Transition Detector," Proceedings of IROS 1999, Vol. 1, October, 1999, pp. 468 - 473.

@inproceedings{Radhakrishnan_1999_3480,
   author = "Dandapani Radhakrishnan and Illah Nourbakhsh",
   title = "Topological Localization by Training a Vision-based Transition Detector",
   booktitle = "Proceedings of IROS 1999",
   month = "October",
   year = "1999",
   volume = "1",
   pages = "468 - 473"
}