Large scale visual localization in urban environments

Supreeth Achar, C.V. Jawahar, K Madhava Krishna
2011 2011 IEEE International Conference on Robotics and Automation  
This paper introduces a vision based localization method for large scale urban environments. The method is based upon Bag-of-Words image retrieval techniques and handles problems that arise in urban environments due to repetitive scene structure and the presence of dynamic objects like vehicles. The localization system was experimentally verified it localization experiments along a 5km long path in an urban environment. Supreeth Achar is currently a graduate student at RI CMU; C.V. Jawahar is with
doi:10.1109/icra.2011.5979925 dblp:conf/icra/AcharJK11 fatcat:7qfqvl4uyvb53g253wkdtrt54u