Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping
Prasser, David & Wyeth, Gordon (2003) Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping. In Proceedings of International Conference on Robotics and Automation, 2003, IEEE, Grant Hotel Taipei, Taiwan.
Probabilistic robotics, most often applied to the problem of simultaneous localisation and mapping (SLAM), requires measures of uncertainly to accompany observations of the environment. This paper describes how uncertainly can be characterised for a vision system that locates coloured landmark in a typical laboratory environment. The paper describes a model of the uncertainly in segmentation, the internal camera model and the mounting of the camera on the robot. It =plains the implementation of the system on a laboratory robot, and provides experimental results that show the coherence of the uncertainly model,
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|Item Type:||Conference Paper|
|Keywords:||mobile robots, object recognition, path planning, robot vision|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2003 IEEE|
|Deposited On:||30 Sep 2010 08:35|
|Last Modified:||11 Aug 2011 02:55|
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