Matjaž Jogan and Matej Artač and Danijel Skočaj and Aleš Leonardis (2003) A Framework for Robust and Incremental Self-Localization. In: 3rd Intl. Conference on Computer Vision Systems, ICVS 2003, Graz, Austria.
Abstract
In this contribution we present a framework for an embodied robotic system that is capable of appearance-based self-localization. Specifically, we concentrate on the issues of robustness, flexibility, and scalability of the system. The framework presented is based on a panoramic eigenspace model of the environment. Its main feature is that it allows for simultaneous localization and map building using an incremental learning algorithm. Further, both the learning and the training processes are designed in a way to achieve robustness and adaptability to changes in the environment.
| Item Type: | Conference or Workshop Item (Paper) |
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| Keywords: | autonomous systems, robotics, self-localization, cognitive vision, eigenspace methods |
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| Language of Content: | English |
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| Institution: | University of Ljubljana |
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| Department: | Faculty of Computer and Information Science |
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| Divisions: | Faculty of Computer and Information Science > Computer Vision Laboratory |
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| Item ID: | 83 |
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| Date Deposited: | 22 May 2003 |
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| Last Modified: | 13 Aug 2011 00:32 |
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| URI: | http://eprints.fri.uni-lj.si/id/eprint/83 |
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