Learning nonlinear appearance manifolds for robot localization

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2971-2976

  Ham, Jihun ^a   Lin, Yuanqing ^a   Lee, Daniel D ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

Appearance based localization; Bayesian filtering; Manifold learning; Nonlinear feature extraction

Indexed keywords

PRINCIPAL COMPONENT ANALYSIS; ROBOT APPLICATIONS;

APPEARANCE BASED; APPEARANCE-BASED MODELS; BAYESIAN FILTERING; HIGH-DIMENSIONAL IMAGES; KERNEL DENSITY ESTIMATION; MANIFOLD LEARNING; NONLINEAR FEATURE EXTRACTION; PRINCIPAL COMPONENTS ANALYSIS;

INTELLIGENT ROBOTS;

EID: 34547979420     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545149     Document Type: Conference Paper

References (14)

1. N. Aihara, H. Iwasa, N. Yokoya, and H. Takemura, "Memory-based self-localization using omnidirectional images," in Proceedings of Fourteenth International Conference on Pattern Recognition, 2:1799-1803, 1998.
2. R. Bunschoten and B. Kröse, "3-D scene reconstruction from cylindrical panoramic images," In Proceedings of 9th International Symposium on Intelligent Robotic Systems (SIRS 2001), 199-205, LAAS-CNRS, Toulouse, France, July 2001.
3. D. Cobzas, and H. Zhang, "Cylindrical panoramic image-based model for robot localization," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), 1924-1930, October 2001, Hawaii, USA. (Pubitemid 34683927)
4. J. L. Crowley and F. Pourraz, "Continuity properties of the appearance manifold for mobile robot position estimation," in Image and Vision Computing, 19(11):741-752, 2001. (Pubitemid 32785261)
5. W. Duch, and R. Adamczak, "Neural networks in non-euclidean metric spaces," in Proceedings of International Joint Conference on Neural Networks, Washington, 740-745, 1999.
6. J. Gaspar, N. Winters and J. Santos-Victor, "Vision-based navigation and environmental representations with an omnidirectional camera," in IEEE Transactions on Robotics and Automation, 16(6):890-898, 2000. (Pubitemid 32191268)
7. J. Gluckman and S. K. Nayar, "Ego-motion and omnidirectional cameras," in Proceedings of the Sixth International Conference on Computer Vision (ICCV 98), 999-1005, 1998.
8. M. Jogan and A. Leonardis, "Robust localization using an omnidirectional appearance-based subspace model of environment," in Robotics and Autonomous Systems, 45(1):51-72, 2003, Elsevier Science.
9. B. J. A. Kröse, N. Vlassis, R. Bunschoten and Y. Motomura, "A probabilistic model for appearance-based robot localization," in Image and Vision Computing, 19(6):381-391, 2001.
10. T. Pajdla and V. Hlavac, "Zero phase representation of panoramic images for image based localization," In Proceedings of 8th International Conference on Computer Analysis of Images and Patterns CAIP'99, 550-557, 1999.
11. Persistence of Vision Pty. Ltd., Williamstown, Victoria, Australia http://www.povray.org/.
12. H. Ritter, "Self-organizing maps in non-euclidean spaces," in Kohonen Maps, E. Oja and S. Kaski eds., 97-108, 1999.
13. L. K. Saul, and S. T. Roweis, "Think globally, fit locally: unsupervised learning of low dimensional manifolds," in Journal of Machine Learning Research, 4:119-155, 2003.
14. S. Se, D. Lowe, and J. Little, "Local and global localization for mobile robots using visual landmarks," In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), 414-420, 2001. (Pubitemid 34683685)