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

页码：3062 / 3069

页数：8

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