Global localization from a single feature correspondence
نویسندگان
چکیده
This paper presents a new approach to global localization for mobile robots from a single feature correspondence only. The method is based on a piece-wise planar environment map and uses planar natural landmarks as commonly encountered in man made environments. The method is especially useful in case of large occlusions. The standard Lu and Hager pose estimation algorithm [6] is extended to improve accuracy and robustness. Localization experiments are performed in a room-size real world scenario.
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