期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 1, 期 1, 页码 213-220出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2015.2512936
关键词
Localization; place recognition; visual-based navigation
类别
资金
- European Commission [FP7-610603-EUROPA2]
Localization is an essential capability for mobile robots and the ability to localize in changing environments is key to robust outdoor navigation. Robots operating over extended periods of time should be able to handle substantial appearance changes such as those occurring over seasons or under different weather conditions. In this letter, we investigate the problem of efficiently coping with seasonal appearance changes in online localization. We propose a lazy data association approach for matching streams of incoming images to a reference image sequence in an online fashion. We present a search heuristic to quickly find matches between the current image sequence and a database using a data association graph. Our experiments conducted under substantial seasonal changes suggest that our approach can efficiently match image sequences while requiring a comparably small number of image to image comparisons.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据