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Vision-Based Localization for Mobile Robots Using a Set of Known Views

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Book cover Advances in Visual Computing (ISVC 2008)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5358))

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Abstract

A robot localization scheme is presented in which a mobile robot finds its position within a known environment through image comparison. The images being compared are those taken by the robot throughout its reconnaissance trip and those stored in an image database that contains views taken from strategic positions within the environment, and that also contain position and orientation information. Image comparison is carried out using a scale-dependent keypoint-matching technique based on SIFT features, followed by a graph-based outlier elimination technique known as Graph Transformation Matching. Two techniques for position and orientation estimation are tested (epipolar geometry and clustering), followed by a probabilistic approach to position tracking (based on Monte Carlo localization).

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Author information

Authors and Affiliations

  1. Departamento de Ciencias de la Computación Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas, Universidad Nacional Autónoma de México, México

    Pablo Frank-Bolton, Alicia Montserrat Alvarado-González, Wendy Aguilar & Yann Frauel

Authors
  1. Pablo Frank-Bolton
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  2. Alicia Montserrat Alvarado-González
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  3. Wendy Aguilar
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  4. Yann Frauel
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Editor information

Editors and Affiliations

  1. Department of Computer Science and Engineering, University of Nevada, Reno, USA

    George Bebis

  2. NASA Ames Research Center, Moffett Field, CA, USA

    Richard Boyle

  3. Lawrence Berkeley National Laboratory, Berkeley, CA, USA

    Bahram Parvin

  4. Desert Research Institute, Reno, NV, USA

    Darko Koracin

  5. Digital Image Research Center, Kingston University, London, UK

    Paolo Remagnino

  6. Mitsubishi Electric Research Laboratories, P.O. Box 02139, Cambridge, MA, USA

    Fatih Porikli

  7. Computer and Information Science and Engineering, University of Florida, P.O. Box, FL 32611-6120, Gainsville, USA

    Jörg Peters

  8. IBM T.J. Watson Research Center, 19 Skyline Drive, NY 10532, Hawthorne, USA

    James Klosowski

  9. 128 Memorial Mall, Stewart B001, IN 47907, West Lafayette, USA

    Laura Arns

  10. Denver Museum of Nature and Space, 2001 Colorade Blvd. Denver,, CO 80205, USA

    Yu Ka Chun

  11. Departmen of Computer Science,, NC State University, Campus Box 8206, NC 27695-8206, Raleigh, USA

    Theresa-Marie Rhyne

  12. Los Alamos National Labs, P.O. Box 1663, NM 87545, Los Alamos, USA

    Laura Monroe

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© 2008 Springer-Verlag Berlin Heidelberg

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Frank-Bolton, P., Alvarado-González, A.M., Aguilar, W., Frauel, Y. (2008). Vision-Based Localization for Mobile Robots Using a Set of Known Views. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2008. Lecture Notes in Computer Science, vol 5358. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89639-5_19

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  • DOI: https://doi.org/10.1007/978-3-540-89639-5_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89638-8

  • Online ISBN: 978-3-540-89639-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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