Topological Localization by Training a Vision-based Transition Detector
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 468 - 473, October, 1999
Abstract
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.
BibTeX
@conference{Radhakrishnan-1999-15040,author = {Dandapani Radhakrishnan and Illah Nourbakhsh},
title = {Topological Localization by Training a Vision-based Transition Detector},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1999},
month = {October},
volume = {1},
pages = {468 - 473},
}
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