Combining Monocular and Stereo Cues for Mobile Robot Localization Using Visual Words

Combining Monocular and Stereo Cues for Mobile Robot Localization Using Visual Words

This paper describes an approach for mobile robot localization using a visual word based place recognition approach. In our approach we exploit the benefits of a stereo camera system for place recognition. Visual words computed from SIFT features are combined with VIP (viewpoint invariant patches) f...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Fraundorfer, Friedrich, Changchang Wu, Pollefeys, Marc
Format: Tagungsbericht
Sprache:eng ; jpn
Schlagworte:
Feature extraction
Geometry
ImageCLEF
robot localization
Robots
Testing
Three dimensional displays
Training
visual localization
Visualization
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Beschreibung
Zusammenfassung:This paper describes an approach for mobile robot localization using a visual word based place recognition approach. In our approach we exploit the benefits of a stereo camera system for place recognition. Visual words computed from SIFT features are combined with VIP (viewpoint invariant patches) features that use depth information from the stereo setup. The approach was evaluated under the ImageCLEF@ICPR 2010 competition. The results achieved on the competition datasets are published in this paper.
ISSN:1051-4651
2831-7475
DOI:10.1109/ICPR.2010.955