cs685-topology

cs685-topology - Vision Based Localization Global...

Info iconThis preview shows pages 1–3. Sign up to view the full content.

View Full Document Right Arrow Icon
1 Global Localization and Relative Pose Estimation Based on Scale Invariant Keypoints Jana Kosecka Department of Computer Science Computer Vision and Robotics Laboratory George Mason University Vision Based Localization Mobile and aerial robots Towards localization without odometry Localization using only visual sensing Given a image(s) acquired by moving camera determine the robot’s location and pose ? Related Work Vision-based SLAM – pose maintenance [Stephens’02, Se’02] Landmark based Relative positioning [Taylor’97, Briggs’00] Appearance Based SLAM [Rybski et. al ’03] Tracking features and maintaining pose applicable to smaller scale – feature rich environments Location recognition – given the image determine the location that image came from PCA based approaches [Leonardis’01] – mapping between the pose and appearance Appearance based Topological localization [Ulrich’00, Gaspar’00] Representation of locations - integrate the information over several channels - not discriminative enough [Torralba et al’03 ; Walker’02], supervised setting – does not enable metric localization Vision Based Localization
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
2 Our Approach Acquire video sequence during exploration of the new environment Build the environment model in terms of locations and spatial relationships between them Topological localization by means of location recognition Metric localization – compute relative pose between the current view and representative view of the most likely location Impose some discrete structure on the space of continuous visual observations Develop methods applicable to large scale environments Associate semantic labels with individual locations (corridor, hallway, office) Issues for Vision Based Localization
Background image of page 2
Image of page 3
This is the end of the preview. Sign up to access the rest of the document.

Page1 / 7

cs685-topology - Vision Based Localization Global...

This preview shows document pages 1 - 3. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online