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Vision for mobile robot localization in urban environments

Georgiev, Atanas; Allen, Peter K.

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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Title
Proceedings 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems : September 30-October 4, EPFL Lausanne, Switzerland
Publisher
IEEE
DOI
https://doi.org/10.1109/IRDS.2002.1041435

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Academic Units
Computer Science
Published Here
November 5, 2012