D-CIS Publication Database

Publication

Type of publication:Article
Entered by:AVI
TitleAn appearance-based visual compass for mobile robots
Bibtex cite ID
Journal Robotics and Autonomous Systems
Year published 2009
Month May
Volume 57
Number 5
Pages 536-545
ISSN 0921-8890
URL http://www.sciencedirect.com/science/article/B6V16-4TSTY9B-1/2/90b2ad61d3e7076f9f108680284e68fe
DOI 10.1016/j.robot.2008.10.002
Keywords mobile robot localization; active vision; machine learning
Abstract
Localization is one of the most important basic skills of a mobile robot. Most approaches, however, still rely either on special sensors or require artificial environments. In this article, a novel approach is presented that can provide compass information for localization, purely based on the visual appearance of a room. A robot using such a visual compass can quickly learn a cylindrical map of the environment, consisting of simple statistical features that can be computed very quickly. The visual compass algorithm is efficient, scalable and can therefore be used in real-time on almost any contemporary robotic platform. Extensive experiments on a Sony Aibo robot have validated that the approach works in a vast variety of environments.
Authors
Sturm, Jürgen
Visser, Arnoud
Topics
=SEE CLASSIFICATION DIFFERENCE FROM OTHERS=
BibTeXBibTeX
RISRIS
Attachments
 
Total mark: 5