Accurate vision based position tracking between places in a topological map

S. Thompson, A. Zelinsky

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    4 Citations (Scopus)

    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.

    Original languageEnglish
    Title of host publicationProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
    Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages491-496
    Number of pages6
    ISBN (Electronic)0780378660
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
    Duration: 16 Jul 200320 Jul 2003

    Publication series

    NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
    Volume1

    Conference

    Conference2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
    Country/TerritoryJapan
    CityKobe
    Period16/07/0320/07/03

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