Vision for mobile robot localization in urban environments
Atanas Georgiev; Peter K. Allen
- Vision for mobile robot localization in urban environments
Allen, Peter K.
- 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 Location:
- Piscataway, N.J.
- 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.
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