Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 56, Issue 2, Pages 143-156Publisher
ELSEVIER
DOI: 10.1016/j.robot.2007.07.001
Keywords
appearance-based localization; digital zoom; visual compass; Markov localization
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This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach is demonstrated experimentally. (c) 2007 Elsevier B.V. All rights reserved.
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