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Real-time image-based topological localization in large outdoor environments
D. Bradley, R. Patel, N. Vandapel, and S. Thayer
2005 IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3670 - 3677.

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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.

Number of pages: 8

D. Bradley, R. Patel, N. Vandapel, and S. 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.

@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)",
   month = "August",
   year = "2005",
   pages = "3670 - 3677"
}