Appearance-based concurrent map building and localization
نویسندگان
چکیده
Appearance-based autonomous robot localization has some advantages over landmarkbased localization as, for instance, the simplicity of the processes applied to the sensor readings. The main drawback of appearance-based localization is that it requires a map including images taken at known positions in the environment where the robot is expected to move. In this paper, we describe a concurrent map-building and localization (CML) system developed within the appearance-base robot localization paradigm. This allow us to combine the good features of appearance-base localization without having to deal with its inconveniences.
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عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 54 شماره
صفحات -
تاریخ انتشار 2006