Accurate local positioning using visual landmarks from a panoramic sensor

Simon Thompson, Alexander Zelinsky

    Research output: Contribution to journalArticlepeer-review

    13 Citations (Scopus)

    Abstract

    This paper presents a method for representing places using a set of visual landmarks from a panoramic sensor that allows for accurate local positioning while still providing efficient global localisation. For each place landmarks are selected for their local uniqueness in the panoramic visual field and their dynamic reliability over a Turn Back and Look movement. During this movement, the depth of landmarks is also estimated using a bearing only SLAM approach. Accurate local position tracking within places equal to that of laser range finder systems is obtained by the application of the Condensation algorithm over individual places. A topological map of such places is built and both global localisation and position tracking experiments are carried out.

    Original languageEnglish
    Pages (from-to)2656-2661
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume3
    DOIs
    Publication statusPublished - 2002

    Fingerprint

    Dive into the research topics of 'Accurate local positioning using visual landmarks from a panoramic sensor'. Together they form a unique fingerprint.

    Cite this