Robust view matching-based Markov localization in outdoor environments
Robust view matching-based Markov localization in outdoor environments
复制标题
室外环境中基于鲁棒视图匹配的马尔可夫定位
DOI：
10.1109/iros.2008.4650607
复制
发表时间：
2008
期刊：
影响因子：
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通讯作者：
Koshiro Yamamoto
中科院分区：
文献类型：
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作者：
J. Miura;Koshiro Yamamoto
提出了一种室外环境下基于视点的定位方法。基于视点的定位中的一个重要问题是如何科普由于天气和季节的变化而引起的目标视点的变化。我们已经开发了一个两阶段的基于SVM的定位方法，具有很高的定位性能，很少的参数调整。在本文中，我们扩展了以下两个方面的方法：（1）添加新的对象模型和视觉功能，以处理各种城市场景和（2）引入马尔可夫定位策略，利用历史的运动。新方法可以实现100%的定位性能，在各种条件下的城市路线。与基于局部特征的方法的比较也进行了讨论。
This paper describes a view-based localization method in outdoor environments. An important issue in view-based localization is to cope with the change of object views due to changes of weather and seasons. We have developed a two-stage SVM-based localization method which exhibits a high localization performance with few parameter tunings. In this paper, we extend the method in the following two ways: (1) adding new object models and visual features to deal with various urban scenes and (2) introducing a Markov localization strategy to utilize the history of movements. The new method can achieve a 100% localization performance in an urban route under a wide variety of conditions. The comparison with local feature-based methods is also discussed.
DOI：
10.1109/iros.2003.1249323
发表时间：
2003-10
期刊：
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
影响因子：
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作者：
Hiroaki Katsura;J. Miura;M. Hild;Y. Shirai
通讯作者：
Hiroaki Katsura;J. Miura;M. Hild;Y. Shirai