ICRA 2011 Paper Abstract


Paper ThP114.5

Mason, Julian (Duke University), Ricco, Susanna (Duke University), Parr, Ronald (Duke University)

Textured Occupancy Grids for Monocular Localization without Features

Scheduled for presentation during the Regular Sessions "Computer Vision III Navigation" (ThP114), Thursday, May 12, 2011, 14:40−14:55, Room 5J

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, Computer Vision for Robotics and Automation, Visual Navigation


A textured occupancy grid map is an extremely versatile data structure. It can be used to render human-readable views and for laser rangefinder localization algorithms. For camera-based localization, landmark or feature-based maps tend to be favored in current research. This may be because of a tacit assumption that working with a textured occupancy grid with a camera would be impractical. We demonstrate that a textured occupancy grid can be combined with an extremely simple monocular localization algorithm to produce a viable localization solution. Our approach is simple, efficient, and produces localization results comparable to laser localization results. A consequence of this result is that a single map representation, the textured occupancy grid, can now be used for humans, robots with laser rangefinders, and robots with just a single camera.



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