Vision for mobile robot localization in urban environments

Articles:

Title:: Vision for mobile robot localization in urban environments
Author(s):: Georgiev, Atanas
Allen, Peter K.
Date:: 2002
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15190
Book/Journal Title:: Proceedings 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems : September 30-October 4, EPFL Lausanne, Switzerland
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
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
DOI:: http://dx.doi.org/10.1109/IRDS.2002.1041435