クロダ　ヨウジ   Kuroda Yoji   黒田　洋司    所属   明治大学  理工学部    職種   専任教授
言語種別	英語
発行・発表の年月	2011/07
形態種別	国際会議議事録
標題	Mobile Robot Localization using Place Recognition in Outdoor Environments with Similar Scenes
執筆形態	共著(筆頭者以外)
掲載誌名	Proc. of 2011 IEEE/ASME Int'l Conf. on Advanced Intelligent Mechatronics (AIM2011)
掲載区分	国外
出版社・発行元	IEEE/ASME
巻・号・頁	pp.930-935
著者・共著者	Masahito Mitsuhashi and Yoji Kuroda
概要	In this paper, we propose a mobile robot localization system using appearance based place recognition. Our system uses appearance based place recognition and dead reckoning with Gyrodometry model. We use theory of the observation likelihood estimation introduced from Fast Appearance Based Mapping (FAB-MAP) for appearance based place recognition. Images collected by a robot produce Bag-of-Words representation and Chow Liu trees. This representation is based on quantized SURF detectors/descriptors. A certain place can be recognized when the image collected matches a reference image coming from the same place in the scene database. In addition, problems of appearance based place recognition techniques are solved by using sensor fusion. Experimental results are presented in an outdoor environment. The proposed localization system can achieve the average robot's position error within 2% without GPS in an outdoor environment.
researchmap用URL	http://ieeexplore.ieee.org/document/6027041/