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Vision for mobile robot localization in urban environments

Atanas Georgiev; Peter K. Allen

Title:
Vision for mobile robot localization in urban environments
Author(s):
Georgiev, Atanas
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
Proceedings 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems : September 30-October 4, EPFL Lausanne, Switzerland
Publisher:
IEEE
Abstract:
This paper addresses the problem of mobile robot localization in urban environments. Typically, GPS is the preferred sensor for outdoor operation. However, using GPS-only localization methods leads to significant performance degradation in urban areas where tall nearby structures obstruct the clear view of the satellites. In our work, we use vision-based techniques to supplement GPS and odometry and provide accurate localization. The vision system identifies prominent linear features in the scene and matches them with a reduced model of nearby buildings, yielding improved pose estimation of the robot.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/IRDS.2002.1041435
Item views:
58
Metadata:
text | xml

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