Biologically Motivated Novel Localization Paradigm by High-Level Multiple Object Recognition in Panoramic Images

Sungho Kim, Min-Sheob Shim
2015 The Scientific World Journal  
This paper presents the novel paradigm of a global localization method motivated by human visual systems (HVSs). HVSs actively use the information of the object recognition results for self-position localization and for viewing direction. The proposed localization paradigm consisted of three parts: panoramic image acquisition, multiple object recognition, and grid-based localization. Multiple object recognition information from panoramic images is utilized in the localization part. High-level
more » ... ject information was useful not only for global localization, but also for robot-object interactions. The metric global localization (position, viewing direction) was conducted based on the bearing information of recognized objects from just one panoramic image. The feasibility of the novel localization paradigm was validated experimentally.
doi:10.1155/2015/465290 pmid:26457323 pmcid:PMC4589637 fatcat:uf6pcpzperaalavfhh2kjtzgse