Multifeature Image Indexing for Robot Localization in Textureless Environments

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Active Detection and Localization of Textureless Objects in Cluttered Environments

This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and localization problems by proposing an edge-based registration algorithm that refines the object position by minimizing a cost directly extracted from a 3D image...

متن کامل

Effects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments

Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...

متن کامل

Action evaluation for mobile robot global localization in cooperative environments

This work is about solving the global localization issue for mobile robots operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot or team of robots in the map reference frame, given the map, the real-time data from the robot onboard sensors and the real-time data coming from other robots or sensors in the environment. After a first step of posi...

متن کامل

Omnidirectional vision for robot localization in urban environments

This paper addresses the problem of long term mobile robot localization in large urban environments. Typically, GPS is the preferred sensor for outdoor operation. However, using GPS-only localization methods leads to significant performance degradation in urban areas where tall nearby structures obstruct the view of the satellites. In our work, we use omnidirectional visionbased techniques to s...

متن کامل

An improved technique for robot global localization in indoor environments

Global localization problem is one of the classical and important problems in mobile robot. In this paper, we present an approach to solve robot global localization in indoor environments with grid map. It combines Hough Scan Matching (HSM) and grid localization method to get the initial knowledge of robot’s pose quickly. For pose tracking, a scan matching tec...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Robotics

سال: 2019

ISSN: 2218-6581

DOI: 10.3390/robotics8020037