Vision-based Markov localization across large perceptual changes

2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings

Volumn , Issue , 2015, Pages

  Naseer, Tayyab ^a   Suger, Benjamin ^a   Ruhnke, Michael ^a   Burgard, Wolfram ^a  

^a UNIVERSITY OF FREIBURG   (Germany)

Author keywords

Cameras; Context; Databases; Lead; Matched filters; Robot sensing systems

Indexed keywords

CAMERAS; DATABASE SYSTEMS; IMAGE PROCESSING; LEAD; MATCHED FILTERS; MOBILE ROBOTS; PROBABILITY DISTRIBUTIONS;

AUTONOMOUS OPERATIONS; CONTEXT; EXPERIMENTAL EVALUATION; LOCALIZATION AND MAPPINGS; MARKOV LOCALIZATIONS; ROBOT SENSING SYSTEM; SEQUENTIAL INFORMATION; STATE-OF-THE-ART TECHNIQUES;

ROBOTS;

EID: 84962272490     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ECMR.2015.7324181     Document Type: Conference Paper

References (20)

1. H. Badino, D. Huber, and T. Kanade, "Real-time topometric localization, " in Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012, pp. 1635-1642.
2. H. Bay, A. Ess, T. Tuytelaars, and L. Van Gool, "Speeded-up robust features (SURF), " Comput. Vis. Image Underst., vol. 110, no. 3, pp. 346-359, 2008.
3. M. Bennewitz, C. Stachniss, W. Burgard, and S. Behnke, "Metric localization with scale-invariant visual features using a single perspective camera, " in European Robotics Symposium, 2006, pp. 143-157.
4. C. Cadena, D. Galvez-Lopez, J. D. Tardos, and 1. Neira, "Robust place recognition with stereo sequences, " Robotics, IEEE Transactions on, vol. 28, no. 4, pp. 871-885, 2012.
5. W. Churchill and P. Newman, "Practice makes perfect? managing and leveraging visual experiences for lifelong navigation, " in Proc. of the IEEE Int. Con! on Robitics and Automation (ICRA), 2012.
6. M. Cummins and P. Newman, "Fab-map: Probabilistic localization and mapping in the space of appearance, " The International fournal of Robotics Research (lJRR), vol. 27, no. 6, pp. 647-665, 2008.
7. "Highly scalable appearance-only SLAM-FAB-MAP 2. 0, " in Proc. of Robotics: Science and Systems, Seattle, USA, June 2009.
8. N. Dalal and B. Triggs, "Histograms of oriented gradients for human detection, " in Proc. of the IEEE Int. Con! on Computer Vision and Pattern Recognition (CVPR), 2005.
9. A. J. Davison, 1. D. Reid, N. D. Molton, and O. Stasse, "Monoslam: Real-time single camera slam, " IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, p. 2007, 2007.
10. D. Fox, J. Hightower, L. Liao, D. Schulz, and G. Borriello, "Bayesian filtering for location estimation, " IEEE pervasive computing, vol. 2, no. 3, pp. 24-33, 2003.
11. A. Glover, W. Maddern, M. Milford, and G. Wyeth, "FAB-MAP + RatSLAM: Appearance-based slam for multiple times of day. " in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010, pp. 3507-3512.
12. P. Hansen and B. Browning, "Visual place recognition using hmm sequence matching, " in Intelligent Robots and Systems (IROS 2014), 2014 IEEEIRSf International Conference on. IEEE, 2014, pp. 4549-4555.
13. D. Lowe, "Distinctive image features from scale-invariant keypoints, " Int. f. Comput. Vision, vol. 60, no. 2, pp. 91-110, Nov. 2004.
14. M. Milford and G. Wyeth, "Persistent navigation and mapping using a biologically inspired slam system, " Int. 1. Rob. Res., vol. 29, no. 9, pp. 1131-1153, Aug. 2010.
15. M. Milford and G. F. Wyeth, "Seqslam: Visual route-based navigation for sunny summer days and stormy winter nights. " in Proc. of the IEEE Int. Con! on Robitics and Automation (ICRA), 2012.
16. T. Naseer, L. Spinello, W. Burgard, and C. Stachniss, "Robust visual robot localization across seasons using network flows. " in AAAI Conference on Artificial Intelligence (AAAI), 2014.
17. P. Neubert, N. Siinderhauf, a nd P. Protzel, " Superpixel-based appearance change prediction for long-term navigation across seasons, " Robotics and Autonomous Systems, 2014.
18. E. Pepperell, P. Corke, and M. Milford, "Towards persistent visual navigation using smart, " in Proc. of Australasian Conference on Robotics and Automation (ACRA). ARAA, 2013.
19. C. Valgren and A. Lilienthal, "SIFT, SURF & Seasons: Appearancebased long-term localization in outdoor environments, " Robotics and Autonomous Systems, vol. 85, no. 2, pp. 149-156, 2010.
20. O. Vysotska, T. Naseer, L. Spinello, W. Burgard, and C. Stachniss, "Efficient and effective matching of image sequences under substantial appearance changes exploiting GPS priors, " in Proc. of the IEEE Int. Con! on Robotics & Automation (ICRA), 2015.