Visual robot localization using compact binary landmarks

Kouichirou Ikeda, Kanji Tanaka
2010 2010 IEEE International Conference on Robotics and Automation  
This paper is concerned with the problem of mobile robot localization using a novel compact representation of visual landmarks. With recent progress in lifelong maplearning as well as in information sharing networks, compact representation of a large-size landmark database has become crucial. In this paper, we propose a compact binary code (e.g. 32bit code) landmark representation by employing the semantic hashing technique from web-scale image retrieval. We show how well such a binary
more » ... ation achieves compactness of a landmark database while maintaining efficiency of the localization system. In our contribution, we investigate the costperformance, the semantic gap, the saliency evaluation using the presented techniques as well as challenge to further reduce the resources (#bits) per landmark. Experiments using a high-speed car-like robot show promising results.
doi:10.1109/robot.2010.5509579 dblp:conf/icra/IkedaT10 fatcat:6ogi7h7t6bgebnq7eefgc3dule