Visual Place Recognition for Autonomous Mobile Robots
نویسندگان
چکیده
منابع مشابه
Visual Place Recognition for Autonomous Mobile Robots
Place recognition is an essential component of autonomous mobile robot navigation. It is used for loop-closure detection to maintain consistent maps, or to localize the robot along a route, or in kidnapped-robot situations. Camera sensors provide rich visual information for this task. We compare different approaches for visual place recognition: holistic methods (visual compass and warping), si...
متن کاملVisual Place Recognition for Autonomous
Visual Place Recognition for Autonomous Robots Hemant D. Tagare Department of Diagnostic Radiology and Department of Electrical Engineering Drew McDermott Hong Xiao Department of Computer Science Yale University ftagare, mcdermott,[email protected] Abstract| The problem of place recognition is central to robot map learning. A robot needs to be able to recognize when it has returned to a previou...
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A new approach for landmark recognition based on the perception, reasoning, action, and expectation (PREACTE) paradigm is presented for the navigation of autonomous mobile robots. PREACTE uses expectations to predict the appearance and disappearance of objects, thereby reducing computational complexity and locational uncertainty. It uses an innovative concept called dynamic model matching (DMM)...
متن کاملSelf-Supervised Visual Place Recognition Learning in Mobile Robots
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work, we develop a self-supervised approach to place recognition in robots. The task of visual loop-closure identification is cast as a metric learning problem, whe...
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Object recognition has been widely researched for several decades and in the recent years new methods capable of general object classification have appeared. However very few work has been done to adapt these methods to the challenges raised by mobile robotics. In this article we discuss the data sources (appearence information, temporal context, etc.) that such methods could use and we review ...
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ژورنال
عنوان ژورنال: Robotics
سال: 2017
ISSN: 2218-6581
DOI: 10.3390/robotics6020009