TY - GEN
T1 - Real-time vision-based robot localization
AU - Aitya, Sami
AU - Hager, Greg
PY - 1991/1/1
Y1 - 1991/1/1
N2 - An algorithm for robot localization using visual landmarks is described. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a preloaded map, and the location of the robot from those correspondences. The primary advantages of this algorithm are its use of a single geometric tolerance to describe observation error, its ability to recognize ambiguous sets of correspondences, its ability to compute bounds on the error in localization, and its fast execution. The current version of the algorithm has been implemented and tested on a mobile robot system. In several hundred trials the algorithm has not failed, and computes location accurate to within a centimeter in less than half a second.
AB - An algorithm for robot localization using visual landmarks is described. This algorithm determines both the correspondence between observed landmarks (in this case vertical edges in the environment) and a preloaded map, and the location of the robot from those correspondences. The primary advantages of this algorithm are its use of a single geometric tolerance to describe observation error, its ability to recognize ambiguous sets of correspondences, its ability to compute bounds on the error in localization, and its fast execution. The current version of the algorithm has been implemented and tested on a mobile robot system. In several hundred trials the algorithm has not failed, and computes location accurate to within a centimeter in less than half a second.
UR - http://www.scopus.com/inward/record.url?scp=0025754476&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0025754476&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0025754476
SN - 081862163X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 639
EP - 644
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the 1991 IEEE International Conference on Robotics and Automation
Y2 - 9 April 1991 through 11 April 1991
ER -