Real-time image-based topological localization in large outdoor environments
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3670 - 3677, August, 2005
Abstract
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.
BibTeX
@conference{Bradley-2005-9278,author = {David Bradley and Rashmi Patel and Nicolas Vandapel and Scott Thayer},
title = {Real-time image-based topological localization in large outdoor environments},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2005},
month = {August},
pages = {3670 - 3677},
}
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