کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413325 | 680408 | 2007 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Self-localization in non-stationary environments using omni-directional vision
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper presents an image-based approach for localization in non-static environments using local feature descriptors, and its experimental evaluation in a large, dynamic, populated environment where the time interval between the collected data sets is up to two months. By using local features together with panoramic images, robustness and invariance to large changes in the environment can be handled. Results from global place recognition with no evidence accumulation and a Monte Carlo localization method are shown. To test the approach even further, experiments were conducted with up to 90% virtual occlusion in addition to the dynamic changes in the environment.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 7, 31 July 2007, Pages 541–551
Journal: Robotics and Autonomous Systems - Volume 55, Issue 7, 31 July 2007, Pages 541–551
نویسندگان
Henrik Andreasson, André Treptow, Tom Duckett,