المستودع الأكاديمي جامعة المدينة

Mobile Robot Localization using Panoramic Vision and Combinations of Feature Region Detectors

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dc.creator Ramisa, Arnau
dc.creator Tapus, Adriana
dc.creator Lopez de Mantaras, Ramon
dc.creator Toledo, Ricardo
dc.date 2008-05-05T10:18:46Z
dc.date 2008-05-05T10:18:46Z
dc.date 2008-05
dc.date.accessioned 2017-01-31T01:09:45Z
dc.date.available 2017-01-31T01:09:45Z
dc.identifier 978-1-4244-1646-2
dc.identifier 1050-4729
dc.identifier http://hdl.handle.net/10261/3991
dc.identifier 10.1109/ROBOT.2008.4543262
dc.identifier.uri http://dspace.mediu.edu.my:8181/xmlui/handle/10261/3991
dc.description IEEE International Conference on Robotics and Automation (ICRA 2008, Pasadena, California, May 19-23, 2008), pp. 538-543.
dc.description This paper presents a vision-based approach for mobile robot localization. The environmental model is topological. The new approach uses a constellation of different types of affine covariant regions to characterize a place. This type of representation permits a reliable and distinctive environment modeling. The performance of the proposed approach is evaluated using a database of panoramic images from different rooms. Additionally, we compare different combinations of complementary feature region detectors to find the one that achieves the best results. Our experimental results show promising results for this new localization method. Additionally, similarly to what happens with single detectors, different combinations exhibit different strengths and weaknesses depending on the situation, suggesting that a context-aware method to combine the different detectors would improve the localization results.
dc.description This work was partially supported by USC Women in Science and Engineering (WiSE), the FI grant from the Generalitat de Catalunya, the European Social Fund, and the MID-CBR project grant TIN2006-15140-C03-01 and FEDER funds and the grant 2005-SGR-00093.
dc.format 391461 bytes
dc.format application/pdf
dc.language eng
dc.publisher Institute of Electrical and Electronics Engineers
dc.relation http://dx.doi.org/10.1109/ROBOT.2008.4543262
dc.rights openAccess
dc.subject Artificial Intelligence
dc.subject Mobile Robot
dc.subject Affine Regions Detectors
dc.subject Harris Affine
dc.subject Hessian Affine
dc.subject MSER
dc.subject SIFT
dc.subject GLOH
dc.subject Topological Localization
dc.title Mobile Robot Localization using Panoramic Vision and Combinations of Feature Region Detectors
dc.type Comunicación de congreso


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