基于全向图像序列的机器人地图构建与定位

2007 4th International Symposium on Applied Computational Intelligence and Informatics Pub Date : 2007-06-25 DOI:10.1109/SACI.2007.375508

Z. Vámossy

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引用次数: 13

摘要

本文介绍了一个地图构建模块，该模块将全向摄像机的图像序列转换为虚拟顶视图，并融入全局动态地图中。从训练图像中学习环境后，通过基于外观的匹配将当前图像与训练集进行比较。适当的分类策略产生对机器人当前位置的估计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Map Building and Localization of a Robot Using Omnidirectional Image Sequences

The paper describes a map building module, where the image sequences of the omnidirectional camera are transformed into virtual top-view ones and melted into the global dynamic map. After learning the environment from training images, a current image is compared to the training set by appearance-based matching. Appropriate classification strategies yield an estimate of the robot's current position.

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2007 4th International Symposium on Applied Computational Intelligence and Informatics

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