2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (2008)
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", 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, vol. 00, no. , pp. 1-7, 2008, doi:10.1109/CVPRW.2008.4563135