Appearance-based localization for mobile robots using digital zoom and visual compass

N. Bellotto, K. Burn, E. Fletcher, S. Wermter
2008 Robotics and Autonomous Systems  
This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearancebased place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure
more » ... by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally.
doi:10.1016/j.robot.2007.07.001 fatcat:e2xbof5osrapxealn66ed7xera