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Topological mobile robot localization using fast vision techniques

Blaer, Paul S.; Allen, Peter K.

In this paper we present a system for topologically localizing a mobile robot using color histogram matching of omnidirectional images. The system is intended for use as a navigational tool for the Autonomous Vehicle for Exploration and Navigation of Urban Environments (AVENUE) mobile robot. Our method makes use of omnidirectional images which are acquired from the robot's on-board camera. The method is fast and rotation invariant. Our tests have indicated that normalized color histograms are best for an outdoor environment while normalization is not required for indoor work. The system quickly narrows down the robot's location to one or two regions within the much larger test environment. Using this regional localization information, other vision systems that we have developed can further localize the robot.

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Title
Proceedings : 2002 IEEE International Conference on Robotics and Automation, May 11-15, 2002, Washington, D.C.
DOI
https://doi.org/10.1109/ROBOT.2002.1013491

More About This Work

Academic Units
Computer Science
Publisher
IEEE
Published Here
November 5, 2012
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