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Appearance-based localization for mobile robots using digital zoom and visual compass
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
doi:10.1016/j.robot.2007.07.001
fatcat:e2xbof5osrapxealn66ed7xera