Pii: S0262-8856(00)00086-x
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چکیده
In this paper we present a method for an appearance-based modeling of the environment of a mobile robot. We describe the task (localization of the robot) in a probabilistic framework. Linear image features are extracted using a Principal Component Analysis. The appearance model is represented as a probability density function of the image feature vector given the location of the robot. We estimate this density model from the data with a kernel estimation method. We show how the parameters of the model in ̄uence the localization performance. We also study how many features and which features are needed for good localization. q 2001 Elsevier Science B.V. All rights reserved.
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تاریخ انتشار 2001