Real-time image-based topological localization in large outdoor environments

被引：8
|
作者：
Bradley, DM [1 ]
Patel, R [1 ]
Vandapel, N [1 ]
Thayer, SM [1 ]
机构：
[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
D O I：
10.1109/IROS.2005.1545442
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a real-time implementation of a topological localization method based on matching image features. This work is supported by a unique sensor pod design that provides stand-alone sensing and computing for localizing a vehicle on a previously traveled road. We report extensive field test results from outdoor environments, with the sensor pod mounted on both a small and a large all-terrain vehicle. Off-line analysis of the approach is also presented to evaluate the robustness of the various image features tested against different weather and lighting conditions.
引用
收藏
页码：3062 / 3069
页数：8
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