TY - JOUR
T1 - Rover localization in natural environments by indexing panoramic images
AU - Gonzalez-Barbosa, José Joel
AU - Lacroix, Simon
PY - 2002/5
Y1 - 2002/5
N2 - In this paper, we present an approach to qualitative rover localization with panoramic images. The approach relies on the possibility to efficiently and robustly compute the resemblance between panoramic images, indexing them by histograms of local appearances. A database of image indexes is dynamically built during rover motions: when the rover re-perceives an already crossed area, it matches the current image with the stored ones (place recognition), and thus gets a qualitative estimate of its position. Experimental results on a 400 images database illustrates the algorithms throughout the paper.
AB - In this paper, we present an approach to qualitative rover localization with panoramic images. The approach relies on the possibility to efficiently and robustly compute the resemblance between panoramic images, indexing them by histograms of local appearances. A database of image indexes is dynamically built during rover motions: when the rover re-perceives an already crossed area, it matches the current image with the stored ones (place recognition), and thus gets a qualitative estimate of its position. Experimental results on a 400 images database illustrates the algorithms throughout the paper.
UR - http://www.scopus.com/inward/record.url?scp=0036055885&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2002.1014733
DO - 10.1109/ROBOT.2002.1014733
M3 - Artículo
SN - 1050-4729
VL - 2
SP - 1365
EP - 1370
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
ER -