CSDL Home C CVPRW 2008 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
Anchorage, AK, USA
June 23, 2008 to June 28, 2008
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.
Oliver Pink, "Visual map matching and localization using a global feature map", CVPRW, 2008, 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops 2008, pp. 1-7, doi:10.1109/CVPRW.2008.4563135