Natural landmark based localisation system using panoramic images

D.C.K. Yuen, B.A. MacDonald
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
A panoramic image based localisation system has been implemented on a B21r mobile robot and tested in a heavily cluttered environment. It takes vertical object edges as natural landmarks and extracts a one-dimensional token sequence from the input image before matching with reference image sequences. Matched points are then triangulated to give a set of position estimates, and the best result is taken as the current robot position. Selection criteria and methods for the reference image sites
more » ... ence image sites are also discussed, including the use of generalised Voronoi vertices.
doi:10.1109/robot.2002.1013473 dblp:conf/icra/YuenM02 fatcat:3qaefbcx65hftfxtb5gtnjrgge