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Paper WeB09.6

Senlet, Turgay (Rutgers, The State University of New Jersey), Elgammal, Ahmed (Rutgers, The State University of New Jersey)

Satellite Image Based Precise Robot Localization on Sidewalks

Scheduled for presentation during the Regular Session "Localization II" (WeB09), Wednesday, May 16, 2012, 11:45−12:00, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Computer Vision for Robotics and Automation, Localization

Abstract

In this paper, we present a novel computer vision framework for precise localization of a mobile robot on sidewalks. In our framework, we combine stereo camera images, visual odometry, satellite map matching, and a sidewalk probability transfer function obtained from street maps in order to attain globally corrected localization results. The framework is capable of precisely localizing a mobile robot platform that navigates on sidewalks, without the use of traditional wheel odometry, GPS or INS inputs. On a complex 570-meter sidewalk route, we show that we obtain superior localization results compared to visual odometry and GPS.

 

 

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