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17th International Conference on Pattern Recognition (ICPR'04) - Volume 4
Natural, Salient Image Patches for Robot Localization
Cambridge UK
August 23-August 26
ISBN: 0-7695-2128-2
Friedrich Fraundorfer, Graz University of Technology, Austria
Horst Bischof, Graz University of Technology, Austria
Sandra Ober, Graz University of Technology, Austria
This paper addresses a major problem in mobile robot localization. In most approaches to simultaneous localization and mapping (SLAM) only line and point features are used which easily lead to ambiguities in loop-closing and global relocalization. In this work we propose to use natural, salient image patches as additional high discriminative landmarks to aid in unclear localization scenarios which might occur in modern highly symmetric indoor environments. A new method of landmark extraction is presented as well as a matching method for storing and retrieving the landmarks in a location database.
Citation:
Friedrich Fraundorfer, Horst Bischof, Sandra Ober, "Natural, Salient Image Patches for Robot Localization," icpr, vol. 4, pp.881-884, 17th International Conference on Pattern Recognition (ICPR'04) - Volume 4, 2004
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