Kuroda Yoji
   Department   Undergraduate School  , School of Science and Technology
   Position   Professor
Language English
Publication Date 2011/07
Type International Conference
Title Mobile Robot Localization using Place Recognition in Outdoor Environments with Similar Scenes
Contribution Type Co-authored (other than first author)
Journal Proc. of 2011 IEEE/ASME Int'l Conf. on Advanced Intelligent Mechatronics (AIM2011)
Journal TypeAnother Country
Publisher IEEE/ASME
Volume, Issue, Page pp.930-935
Author and coauthor Masahito Mitsuhashi and Yoji Kuroda
Details 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.
URL for researchmap http://ieeexplore.ieee.org/document/6027041/