Appearance-based concurrent map building and localization

被引：11
|
作者：
Porta, JM [1 ]
Kröse, BJA [1 ]
机构：
[1] Univ Amsterdam, IAS Grp, Informat Inst, NL-1098 SJ Amsterdam, Netherlands
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 02期
关键词：
appearance-based localization; concurrent map building and localization;
D O I：
10.1016/j.robot.2005.09.025
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In appearance-based robot localization the environment map does not represent geometrical features but consists of an appearance map, which is a collection of robot poses and corresponding sensor observations. In this paper, we describe a concurrent map-building and localization (CML) system based on a multi-hypotheses tracker that is able to build and refine autonomously the appearance map required for localization as the robot moves in the environment. The results included in this paper validate Our approach. (c) 2005 Published by Elsevier B.V.
引用
收藏
页码：159 / 164
页数：6
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