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| R. Talluri, J.K. Aggarwal, "Image Map Correspondence for Mobile Robot Self-Location Using Computer Graphics," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 15, no. 6, pp. 597-601, June, 1993. | |||
| BibTex | x | ||
| @article{ 10.1109/34.216729, author = {R. Talluri and J.K. Aggarwal}, title = {Image Map Correspondence for Mobile Robot Self-Location Using Computer Graphics}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {15}, number = {6}, issn = {0162-8828}, year = {1993}, pages = {597-601}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.216729}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - JOUR JO - IEEE Transactions on Pattern Analysis and Machine Intelligence TI - Image Map Correspondence for Mobile Robot Self-Location Using Computer Graphics IS - 6 SN - 0162-8828 SP597 EP601 EPD - 597-601 A1 - R. Talluri, A1 - J.K. Aggarwal, PY - 1993 KW - computer vision; feature extraction; position estimation; image/map correspondence; computerised navigation; map correspondence; mobile robot self-location; computer graphics; outdoor mountainous environment; digital elevation map; search space; computer vision; computerised navigation; feature extraction; mobile robots; search problems VL - 15 JA - IEEE Transactions on Pattern Analysis and Machine Intelligence ER - | |||
The use of computer graphics in estimating the position of an autonomous mobile robot navigating in an outdoor mountainous environment is discussed. A digital elevation map (DEM) of the area in which the robot is to navigate is given, and the robot is equipped with a camera that can be panned and tilted, a compass, and an altimeter. The position of the robot is estimated by establishing a correspondence between the images acquired by the camera on the robot (actual images) and the images generated from the DEM (predicted images) using computer graphics techniques. Features are extracted from the predicted images and the actual images that are used in establishing the correspondence. The features used are the horizon line contours (HLCs) in the images. To reduce the search space a constrained search paradigm is used. Geometric constraints help prune the search space significantly.
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