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Outdoor localization using wide-angle visual feature matching and image retrieval

Hansen, Peter I., Corke, Peter, & Boles, Wageeh W. (2007) Outdoor localization using wide-angle visual feature matching and image retrieval. In 13th International Symposium of Robotics Research (ISRR 2007), 26-29 November 2007, Hiroshima, Japan. (Unpublished)

Abstract

This paper describes an outdoor mobile robot navigation and localization system based on visual features. We use a novel feature detector operating on wide-angle images and create a database of image features for a large outdoor environment. Images are geo-tagged by their pose. Given an arbitrary view we use algorithms inspired by "Video Google" to extract scenes from the database that overlap the current view and from which we can estimate our current pose in the environment or detect loop closures.

Impact and interest:

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ID Code: 9695
Item Type: Conference Paper
Additional URLs:
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Image Processing (080106)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Pattern Recognition and Data Mining (080109)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2007 The Author(s)
Deposited On: 06 Mar 2008
Last Modified: 21 Oct 2013 10:40

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