Matjaž Jogan and Aleš Leonardis and Horst Wildenauer and Horst Bischof (2002) Mobile Robot Localization under Varying Illumination. In: Intl. Conference on Pattern Recognition ICPR02, Quebec, Canada.
Methods for mobile robot localization that use eigenspaces of panoramic snapshots of the environment are in general sensitive to changes in the illumination of the environment. Therefore, we propose in this paper an approach which achieves a reliable localization under severe illumination conditions by illumination insensitive eigenspaces. The method in question uses gradient filtering of the eigenspaces. The method was tested on images obtained by a mobile robot and, as we show, it outperforms by far the other known methods.
|Item Type: ||Conference or Workshop Item (Paper)|
|Keywords: ||Mobile robot localization, eigenspace, robust methods, illumination invariance|
|Language of Content: ||English|
|Institution: ||University of Ljubljana|
|Department: ||Faculty of Computer and Information Science|
|Divisions: ||Faculty of Computer and Information Science > Computer Vision Laboratory|
|Item ID: ||72|
|Date Deposited: ||22 May 2003|
|Last Modified: ||13 Aug 2011 00:31|
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