Summary
We present an appearance-based localization algorithm for an indoor environment that is inspired by human’s localization and navigation capabilities. Our localization approach integrates the Monte-Carlo localization technique with an omnidirectional image matching algorithm. The approach yields robust localization outcome with reasonable accuracy even when operating in a large map with sparse reference images.
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© 2008 Springer-Verlag Berlin Heidelberg
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Saedan, M., Lim, C.W., Ang, M.H. (2008). Vision-Based Localization Using a Central Catadioptric Vision System. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_37
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DOI: https://doi.org/10.1007/978-3-540-77457-0_37
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77456-3
Online ISBN: 978-3-540-77457-0
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