کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412313 | 679624 | 2006 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Real-time appearance-based Monte Carlo localization
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
A new technique for vision processing is presented which lets a mobile robot equipped with an omnidirectional camera perform appearance-based global localization in real time. The technique is applied directly to the omnidirectional camera images, producing low-dimensional rotation invariant feature vectors without any training or set-up phase. Using the feature vectors, particle filters can accurately estimate the location of a continuously moving real robot, processing 5000 simultaneous localization hypotheses on-line. Estimated body positions overlap the actual ones in over 95% of the time steps. The feature vectors show a graceful degradation against increasing levels of simulated noise and occlusion.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 3, 31 March 2006, Pages 205–220
Journal: Robotics and Autonomous Systems - Volume 54, Issue 3, 31 March 2006, Pages 205–220
نویسندگان
F. Linåker, M. Ishikawa,