@inproceedings{fae92d39b1fc4fe6b73503643a3947b2,
title = "Accurate vision based position tracking between places in a topological map",
abstract = "This paper presents a method for accurately tracking the position of a mobile robot which moves between places in a previously learned topological map. Places in the map are represented by sets of visual landmarks extracted from panoramic images. Probabilistic localisation methods and the landmark representation enable position tracking within places. A sensor model is presented which improves the accuracy of local position estimates, and is robust in the presence of occlusion and data association errors. Position tracking between places requires the recognition of place transition events and the passing of local position estimates between places. This paper presents such a system and reports real world position tracking results from paths through topological maps.",
author = "S. Thompson and A. Zelinsky",
note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 ; Conference date: 16-07-2003 Through 20-07-2003",
year = "2003",
doi = "10.1109/CIRA.2003.1222138",
language = "English",
series = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "491--496",
booktitle = "Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation",
address = "United States",
}