Omnidirectional Object Recognition Based Mobile Robot Localization

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This paper presents a novel paradigm of a global localization method motivated. The proposed localization paradigm consists of three parts: panoramic image acquisition, multiple object recognition, and grid-based localization. Multiple object recognition information from panoramic images is utilized in the localization part. High level object information is useful not only for global localization but also robot-object interaction. The metric global localization (position, viewing direction) is conducted based on the bearing information of recognized objects from just one panoramic image. The experimental results validate the feasibility of the novel localization paradigm.
Publisher
Springer
Issue Date
2013-05
Language
English
Citation

Lecture Notes in Electrical Engineering, v.240, pp.975 - 981

ISSN
1876-1100
DOI
10.1007/978-94-007-6738-6_120
URI
http://hdl.handle.net/10203/255014
Appears in Collection
EE-Journal Papers(저널논문)
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