Monocular-Vision-Based Mobile Robot Global Localization
LI Mao-hai1, HONG Bing-rong1, LUO Rong-hua2, CAI Ze-su1
1. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China; 2. School of Computer Science and Engineering, South China University of Technology, Guangzhou 510640, China
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LI Mao-hai, HONG Bing-rong, LUO Rong-hua, CAI Ze-su. Monocular-Vision-Based Mobile Robot Global Localization. ROBOT, 2007, 29(2): 140-144,178..
Abstract：An environmental map built with monocular vision is used to implement mobile robot global localization.The feature matching is implemented with the KD-treebased nearest search approach.The features are extracted with Scale Invariant Feature Transform(SIFT),and discribed with highly distinctive multi-dimensional vector,making features be invariant to changes in illumination,scale,3D viewpoint and noise.A robust localization based on RANSAC(RANdom SAmple Consensus) approach is presented.Experiments on robot Pioneer 3 with monocular CCD camera in our real indoor environment show that our method is of high precision and stability.
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