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A Direct Localization Method Using only the Bearings Extracted from Two Panoramic Views Along a Linear Trajectory

Huang, Henry, Maire, Frederic D., & Keeratipranon, Narongdech (2006) A Direct Localization Method Using only the Bearings Extracted from Two Panoramic Views Along a Linear Trajectory. In Murase, Kazuyuki, Sekiyama, Murase, Naniwa, Tomohide, Kubota, Naoyuki, & Sitte, Joaquin (Eds.) International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005), September 20-22, 2005, Fukui, Japan.

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Abstract

To operate successfully in any environment, mobile robots must be able to localize themselves accurately. In this paper, we describe a direct method (in the sense it does not use an iterative search) based on vision for localizing a mobile robot in an environment with only two observations along a linear trajectory. We only assume that the robot can visually identify landmarks and measure their bearings. Contrary to other existing approaches to landmark based navigation, we do not require any other sensors (like range sensors or wheel encoders) or the prior knowledge of relative distances between the landmarks. Given its low cost, the range of potential applications of our localization system is very wide. In particular, this system is ideally suited for domestic robots such as autonomous lawn-mowers and vacuum cleaners.

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ID Code: 5075
Item Type: Conference Paper
Additional Information: f.maire@qut.edu.au
DOI: 10.1007/3-540-29344-2_30
ISBN: 9783540284963
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2006 Springer
Copyright Statement: This is the author-version of the work. Conference proceedings published, by Springer Verlag, will be available via SpringerLink. http://www.springer.de/comp/lncs/ Lecture Notes in Computer Science
Deposited On: 01 Jun 2007
Last Modified: 29 Feb 2012 23:12

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