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2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
Visual map matching and localization using a global feature map
Anchorage, AK, USA
June 23-June 28
ISBN: 978-1-4244-2339-2
Oliver Pink, Institut für Mess- und Regelungstechnik Universität Karlsruhe (TH), 76128, Germany
This paper presents a novel method to support environmental perception of mobile robots by the use of a global feature map. While typical approaches to simultaneous localization and mapping (SLAM) mainly rely on an on-board camera for mapping, our approach uses geographically referenced aerial or satellite images to build a map in advance. The current position on the map is determined by matching features from the on-board camera to the global feature map. The problem of feature matching is posed as a standard point pattern matching problem and a solution using the iterative closest point method is given.
Citation:
Oliver Pink, "Visual map matching and localization using a global feature map," cvprw, pp.1-7, 2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 2008
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