کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
395301 665946 2009 25 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Vision-based global localization for mobile robots with hybrid maps of objects and spatial layouts
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Vision-based global localization for mobile robots with hybrid maps of objects and spatial layouts
چکیده انگلیسی

This paper presents a novel vision-based global localization that uses hybrid maps of objects and spatial layouts. We model indoor environments with a stereo camera using the following visual cues: local invariant features for object recognition and their 3D positions for object pose estimation. We also use the depth information at the horizontal centerline of image where the optical axis passes through, which is similar to the data from a 2D laser range finder. This allows us to build our topological node that is composed of a horizontal depth map and an object location map. The horizontal depth map describes the explicit spatial layout of each local space and provides metric information to compute the spatial relationships between adjacent spaces, while the object location map contains the pose information of objects found in each local space and the visual features for object recognition. Based on this map representation, we suggest a coarse-to-fine strategy for global localization. The coarse pose is estimated by means of object recognition and SVD-based point cloud fitting, and then is refined by stochastic scan matching. Experimental results show that our approaches can be used for an effective vision-based map representation as well as for global localization methods.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Information Sciences - Volume 179, Issue 24, 15 December 2009, Pages 4174–4198
نویسندگان
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