Appearance-Based Place Recognition for Topological Localization
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1023 - 1029, April, 2000
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.
BibTeX
@conference{Ulrich-2000-8014,author = {Iwan Ulrich and Illah Nourbakhsh},
title = {Appearance-Based Place Recognition for Topological Localization},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2000},
month = {April},
volume = {2},
pages = {1023 - 1029},
}
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