ICRA 2011 Paper Abstract


Paper ThA210.3

Irie, Kiyoshi (Chiba Insitute of Technology), Yoshida, Tomoaki (Chiba Institute of Technology), Tomono, Masahiro (Chiba Institute of Technology)

A High Dynamic Range Vision Approach to Outdoor Localization

Scheduled for presentation during the Regular Sessions "Localization II" (ThA210), Thursday, May 12, 2011, 10:35−10:50, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Localization


We propose a novel localization method for outdoor mobile robots using High Dynamic Range (HDR) vision technology. To obtain an HDR image, multiple images at different exposures is typically captured and combined. However, since mobile robots can be moving during a capture sequence, images cannot be fused easily. Instead, we generate a set of keypoints that incorporates keypoints those detected in each image. The position of the robot is estimated using the keypoint sets to match measured positions with a map. We conducted experimental comparisons of HDR and auto-expose images, and our HDR method showed higher robustness and localization accuracy.



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